116
Total objective tests
34
Objectives passed
0
Objectives failed
82
Objectives skipped
7.9s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives30 pass53 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 43.0s | 163 warnings · 297 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-07 02:57:14.118757431 [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 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144576998 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144611203 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786071436.09157276 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786071436.82609558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.08sINFOobjective_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 + 4.09sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Accepted new action goal ×2 + 4.55sWARNros2_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 ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2).[0m ×2 + 7.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275975 ms (missed cycles : 2). + 7.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275975 ms (missed cycles : 2).[0m ×2 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×4 + 7.29sINFOros2_control_node[2026-08-07 02:57:20.120] [info] Received new action goal ×2 + 7.29sINFOros2_control_node[2026-08-07 02:57:20.120] [info] Accepted new action goal ×2 + 8.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335769 ms (missed cycles : 6). + 8.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.335769 ms (missed cycles : 6).[0m ×2 + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766037 ms (missed cycles : 2). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766037 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004948 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.004948 ms (missed cycles : 2).[0m ×2 + 10.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.47sINFOros2_control_node[2026-08-07 02:57:23.300] [info] Received new action goal ×2 + 10.47sINFOros2_control_node[2026-08-07 02:57:23.300] [info] Accepted new action goal ×2 + 10.77sWARNros2_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 + 11.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092885 ms (missed cycles : 2). + 11.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092885 ms (missed cycles : 2).[0m ×2 + 12.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274002 ms (missed cycles : 2). + 12.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274002 ms (missed cycles : 2).[0m ×2 + 13.45sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). ×2 + 13.45sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.51sINFOros2_control_node[2026-08-07 02:57:26.333] [info] Received new action goal ×2 + 13.51sINFOros2_control_node[2026-08-07 02:57:26.333] [info] Accepted new action goal ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.476321 ms (missed cycles : 7). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.476321 ms (missed cycles : 7).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593001 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593001 ms (missed cycles : 2).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785883 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785883 ms (missed cycles : 3).[0m ×2 + 16.47sINFOobjective_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 + 16.47sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.47sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.77sWARNros2_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 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223531 ms (missed cycles : 5). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223531 ms (missed cycles : 5).[0m ×2 + 18.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567854 ms (missed cycles : 6). + 18.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.567854 ms (missed cycles : 6).[0m ×2 + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613153 ms (missed cycles : 4). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.613153 ms (missed cycles : 4).[0m ×2 + 20.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665738 ms (missed cycles : 3). + 20.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665738 ms (missed cycles : 3).[0m ×2 + 21.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156695 ms (missed cycles : 5). + 21.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156695 ms (missed cycles : 5).[0m ×2 + 21.77sWARNros2_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 + 22.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141577 ms (missed cycles : 2). + 22.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.141577 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158593 ms (missed cycles : 5). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.158593 ms (missed cycles : 5).[0m ×2 + 23.97sINFOobjective_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 + 23.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.97sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.97sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.97sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.97sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604080 ms (missed cycles : 3). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604080 ms (missed cycles : 3).[0m ×2 + 24.85sINFOros2_control_node[2026-08-07 02:57:37.680] [info] Received new action goal ×2 + 24.85sINFOros2_control_node[2026-08-07 02:57:37.680] [info] Accepted new action goal ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747352 ms (missed cycles : 6). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.747352 ms (missed cycles : 6).[0m ×2 + 26.04sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.05sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.38sINFOros2_control_node[2026-08-07 02:57:39.205] [info] Received new action goal ×2 + 26.38sINFOros2_control_node[2026-08-07 02:57:39.205] [info] Accepted new action goal ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159524 ms (missed cycles : 4). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159524 ms (missed cycles : 4).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177042 ms (missed cycles : 2). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177042 ms (missed cycles : 2).[0m ×2 + 28.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 28.65sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 28.65sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.67sINFOros2_control_node[2026-08-07 02:57:41.493] [info] Received new action goal ×2 + 28.67sINFOros2_control_node[2026-08-07 02:57:41.494] [info] Accepted new action goal ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474534 ms (missed cycles : 6). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.474534 ms (missed cycles : 6).[0m ×2 + 30.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143548 ms (missed cycles : 5). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.143548 ms (missed cycles : 5).[0m ×2 + 31.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.126605 ms (missed cycles : 4). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.126605 ms (missed cycles : 4).[0m ×2 + 31.70sINFOros2_control_node[2026-08-07 02:57:44.523] [info] Received new action goal ×2 + 31.70sINFOros2_control_node[2026-08-07 02:57:44.523] [info] Accepted new action goal ×2 + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695444 ms (missed cycles : 2). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695444 ms (missed cycles : 2).[0m ×2 + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701061 ms (missed cycles : 3). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.701061 ms (missed cycles : 3).[0m ×2 + 34.29sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 34.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.34sINFOros2_control_node[2026-08-07 02:57:47.168] [info] Received new action goal ×2 + 34.34sINFOros2_control_node[2026-08-07 02:57:47.168] [info] Accepted new action goal ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.361718 ms (missed cycles : 9). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.361718 ms (missed cycles : 9).[0m ×2 + 34.75sWARNros2_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 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285720 ms (missed cycles : 2). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285720 ms (missed cycles : 2).[0m ×2 + 36.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891410 ms (missed cycles : 5). + 36.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891410 ms (missed cycles : 5).[0m ×2 + 37.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798505 ms (missed cycles : 5). + 37.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.798505 ms (missed cycles : 5).[0m ×2 + 39.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506024 ms (missed cycles : 5). + 39.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.506024 ms (missed cycles : 5).[0m ×2 + 40.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113548 ms (missed cycles : 5). + 40.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.113548 ms (missed cycles : 5).[0m ×2 + 41.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600775 ms (missed cycles : 2). + 41.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600775 ms (missed cycles : 2).[0m ×2 + 41.61sWARNros2_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 + 42.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964580 ms (missed cycles : 2). + 42.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964580 ms (missed cycles : 2).[0m ×2 + 43.10sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048825 ms (missed cycles : 4). + 43.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048825 ms (missed cycles : 4).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009741 ms (missed cycles : 4). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009741 ms (missed cycles : 4).[0m ×2 + 45.06sINFOros2_control_node[2026-08-07 02:57:57.883] [info] Received new action goal ×2 + 45.06sINFOros2_control_node[2026-08-07 02:57:57.883] [info] Accepted new action goal ×2 + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2).[0m ×2 + 46.21sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786071479.03930283 seconds ×3 + 46.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229867 ms (missed cycles : 5). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229867 ms (missed cycles : 5).[0m ×2 + 47.02sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786071479.85099721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783848 ms (missed cycles : 2). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783848 ms (missed cycles : 2).[0m ×2 + 48.20sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 48.21sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.22sINFOros2_control_node[2026-08-07 02:58:01.046] [info] Received new action goal ×2 + 48.22sINFOros2_control_node[2026-08-07 02:58:01.046] [info] Accepted new action goal ×2 + 48.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228961 ms (missed cycles : 5). + 48.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228961 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.2s | 3 errors · 123 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082269 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082269 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407560 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407560 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112722 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112722 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901069 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901069 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_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 + 3.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.51sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.51sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786071508.35023522 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786071509.00507879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432743 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432743 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 5 iterations (0.0062743 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 02:58:29.281] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 02:58:29.281] [info] Accepted new action goal ×2 + 4.57sWARNros2_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 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902006 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902006 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598036 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598036 ms (missed cycles : 3).[0m ×2 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124549 ms (missed cycles : 4). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124549 ms (missed cycles : 4).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355313 ms (missed cycles : 4). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.355313 ms (missed cycles : 4).[0m ×2 + 9.72sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551722 ms (missed cycles : 2). + 9.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551722 ms (missed cycles : 2).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970471 ms (missed cycles : 2). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.970471 ms (missed cycles : 2).[0m ×2 + 11.68sINFOobjective_server_node[2026-08-07 02:58:36.518] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622648 ms (missed cycles : 3). + 12.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.622648 ms (missed cycles : 3).[0m ×2 + 12.37sINFOobjective_server_node[0;m[0;93m2026-08-07 02:58:37.206632674 [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 + 12.37sINFOobjective_server_node[0;93m2026-08-07 02:58:37.206661778 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.53sINFOobjective_server_node[2026-08-07 02:58:37.368] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.03sINFOobjective_server_node[0;93m2026-08-07 02:58:37.871183275 [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 + 13.03sINFOobjective_server_node[0;93m2026-08-07 02:58:37.871212890 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.15sINFOobjective_server_node[2026-08-07 02:58:37.989] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411546 ms (missed cycles : 2). + 13.20sINFOobjective_server_node[0;93m2026-08-07 02:58:38.038823777 [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 + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411546 ms (missed cycles : 2).[0m ×2 + 13.21sINFOobjective_server_node[0;93m2026-08-07 02:58:38.044588775 [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 + 13.21sINFOobjective_server_node[0;93m2026-08-07 02:58:38.044627139 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.23sINFOobjective_server_node[2026-08-07 02:58:38.067] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.56sINFOobjective_server_node[0;93m2026-08-07 02:58:38.399261315 [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 + 13.58sINFOobjective_server_node[0;93m2026-08-07 02:58:38.422949272 [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 + 13.58sINFOobjective_server_node[0;93m2026-08-07 02:58:38.422979880 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185814 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185814 ms (missed cycles : 2).[0m ×2 + 15.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560465 ms (missed cycles : 5). + 15.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.560465 ms (missed cycles : 5).[0m ×2 + 15.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078089 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078089 ms (missed cycles : 2).[0m ×2 + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933704 ms (missed cycles : 5). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.933704 ms (missed cycles : 5).[0m ×2 + 18.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929367 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929367 ms (missed cycles : 2).[0m ×2 + 19.58sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 19.94sINFOobjective_server_nodeFound path in 4 iterations (0.00327128 s). ×2 + 20.01sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525560 ms (missed cycles : 6). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.525560 ms (missed cycles : 6).[0m ×2 + 20.05sINFOobjective_server_nodeFound path in 12 iterations (0.00849653 s). ×2 + 20.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.16sINFOobjective_server_nodeFound path in 1 iterations (0.0034015 s). ×2 + 20.21sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 20.24sINFOobjective_server_nodeFound path in 0 iterations (7.66e-07 s). ×2 + 20.28sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.29sINFOobjective_server_nodeFound path in 0 iterations (5.31e-07 s). ×2 + 20.33sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 20.35sINFOobjective_server_nodeFound path in 8 iterations (0.00373051 s). ×2 + 20.41sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 20.44sINFOobjective_server_nodeFound path in 2 iterations (0.00642735 s). ×2 + 20.49sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 20.51sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 20.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.57sINFOobjective_server_nodeFound path in 4 iterations (0.00504836 s). ×2 + 20.67sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.69sINFOobjective_server_nodeFound path in 4 iterations (0.00334121 s). ×2 + 20.79sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 20.82sINFOobjective_server_nodeFound path in 1 iterations (0.00779427 s). ×2 + 20.90sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.92sINFOobjective_server_nodeFound path in 0 iterations (2.42e-07 s). ×2 + 20.98sINFOobjective_server_nodePath shortcutter: [X______________________________________________________X] ×2 + 21.01sINFOobjective_server_nodeFound path in 1 iterations (0.00321089 s). ×2 + 21.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.12sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 21.16sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.18sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 21.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.467891 ms (missed cycles : 9). + 21.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.467891 ms (missed cycles : 9).[0m ×2 + 21.29sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X] ×2 + 21.32sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 21.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________X] ×2 + 21.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.64sINFOros2_control_node[2026-08-07 02:58:46.474] [info] Received new action goal ×2 + 21.64sINFOros2_control_node[2026-08-07 02:58:46.474] [info] Accepted new action goal ×2 + 21.80sWARNros2_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 + 22.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545206 ms (missed cycles : 4). + 22.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545206 ms (missed cycles : 4).[0m ×2 + 23.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043647 ms (missed cycles : 5). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.043647 ms (missed cycles : 5).[0m ×2 + 24.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002969 ms (missed cycles : 4). + 24.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.002969 ms (missed cycles : 4).[0m ×2 + 25.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536405 ms (missed cycles : 4). + 25.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536405 ms (missed cycles : 4).[0m ×2 + 26.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960993 ms (missed cycles : 2). + 26.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960993 ms (missed cycles : 2).[0m ×2 + 27.74sINFOros2_control_node[2026-08-07 02:58:52.576] [info] Received new action goal ×2 + 27.74sINFOros2_control_node[2026-08-07 02:58:52.576] [info] Accepted new action goal ×2 + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802459 ms (missed cycles : 2). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802459 ms (missed cycles : 2).[0m ×2 + 27.83sWARNros2_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 + 28.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728406 ms (missed cycles : 2). + 28.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728406 ms (missed cycles : 2).[0m ×2 + 29.09sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 29.09sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 29.10sINFOros2_control_node[2026-08-07 02:58:53.938] [info] Received new action goal ×2 + 29.10sINFOros2_control_node[2026-08-07 02:58:53.938] [info] Accepted new action goal ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160580 ms (missed cycles : 3). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160580 ms (missed cycles : 3).[0m ×2 + 30.14sWARNobjective_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 + 30.14sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.47sINFOros2_control_node[2026-08-07 02:58:55.308] [info] Received new action goal ×2 + 30.47sINFOros2_control_node[2026-08-07 02:58:55.308] [info] Accepted new action goal ×2 + 31.09sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5).[0m ×2 + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3).[0m ×2 + 33.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4). + 33.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4).[0m ×2 + 33.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 34.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5). + 34.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5).[0m ×2 + 34.70sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786071539.53526187 seconds ×3 + 34.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 34.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786071540.30202675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2).[0m ×2 + 35.68sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 35.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 35.69sINFOros2_control_node[2026-08-07 02:59:00.526] [info] Received new action goal ×2 + 35.69sINFOros2_control_node[2026-08-07 02:59:00.527] [info] Accepted new action goal ×2 + 36.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3). + 36.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3).[0m ×2 + 37.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2). + 37.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.2s | 3 errors · 71 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 1.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 1.90sERRORobjective_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: 1786071363.81516552 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 2.68sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686154 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686154 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320969 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320969 ms (missed cycles : 2).[0m ×2 + 8.73sWARNros2_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 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.030820 ms (missed cycles : 4). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.030820 ms (missed cycles : 4).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238295 ms (missed cycles : 4). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.238295 ms (missed cycles : 4).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413952 ms (missed cycles : 4). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.413952 ms (missed cycles : 4).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814966 ms (missed cycles : 6). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.814966 ms (missed cycles : 6).[0m ×2 + 12.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.49sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.50sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.79sINFOobjective_server_nodeFound path in 0 iterations (2.07e-07 s). ×2 + 12.79sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.80sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 12.82sINFOobjective_server_nodeFound path in 0 iterations (6.54e-07 s). ×2 + 12.86sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.88sINFOobjective_server_nodeFound path in 1 iterations (0.00305641 s). ×2 + 12.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.06sINFOros2_control_node[2026-08-07 02:56:14.974] [info] Received new action goal ×2 + 13.06sINFOros2_control_node[2026-08-07 02:56:14.974] [info] Accepted new action goal ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154156 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154156 ms (missed cycles : 2).[0m ×2 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749610 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749610 ms (missed cycles : 2).[0m ×2 + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273073 ms (missed cycles : 6). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273073 ms (missed cycles : 6).[0m ×2 + 15.44sWARNros2_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 + 15.53sINFOros2_control_node[2026-08-07 02:56:17.447] [info] Received new action goal ×2 + 15.53sINFOros2_control_node[2026-08-07 02:56:17.447] [info] Accepted new action goal ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3).[0m ×2 + 17.43sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.44sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Received new action goal ×2 + 17.44sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Accepted new action goal ×2 + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3).[0m ×2 + 18.83sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786071380.74584961 seconds ×3 + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3). + 18.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3).[0m ×2 + 19.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786071381.36096907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.54sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786071381.45109558 seconds ×3 + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2).[0m ×2 + 20.18sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786071382.09471655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.29sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 20.29sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.31sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Received new action goal ×2 + 20.31sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Accepted new action goal ×2 + 20.76sWARNros2_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 + 21.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4). + 21.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 57 warnings · 181 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.91e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00401944 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.26sINFOros2_control_node[2026-08-07 02:56:51.478] [info] Received new action goal ×2 + 0.26sINFOros2_control_node[2026-08-07 02:56:51.478] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821487 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821487 ms (missed cycles : 2).[0m ×2 + 0.69sINFOros2_control_node[2026-08-07 02:56:51.910] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 02:56:51.910] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120875 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120875 ms (missed cycles : 2).[0m ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNros2_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 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565395 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565395 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.98sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.99sERRORobjective_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: 1786071414.20604038 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939846 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939846 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786071415.02276731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.95sINFOros2_control_node[2026-08-07 02:56:55.166] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-07 02:56:55.166] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611448 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611448 ms (missed cycles : 3).[0m ×2 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319855 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319855 ms (missed cycles : 4).[0m ×2 + 6.47sINFOros2_control_node[2026-08-07 02:56:57.690] [info] Received new action goal ×2 + 6.47sINFOros2_control_node[2026-08-07 02:56:57.690] [info] Accepted new action goal ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001200 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001200 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968344 ms (missed cycles : 3). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968344 ms (missed cycles : 3).[0m ×2 + 8.24sWARNros2_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 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072967 ms (missed cycles : 2). + 8.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072967 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599973 ms (missed cycles : 3). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599973 ms (missed cycles : 3).[0m ×2 + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422709 ms (missed cycles : 6). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.422709 ms (missed cycles : 6).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3).[0m ×2 + 14.20sWARNros2_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 + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786071426.26155257 seconds ×3 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4).[0m ×2 + 15.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786071426.92172217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.74sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.75sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.78sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786071427.00185871 seconds ×3 + 16.38sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786071427.60249090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.49sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 16.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.51sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Received new action goal ×2 + 16.51sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Accepted new action goal ×2 + 16.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2). + 16.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2).[0m ×2 + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 12 errors · 57 warnings · 201 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048825 ms (missed cycles : 4). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048825 ms (missed cycles : 4).[0m ×2 + 1.07sINFOobjective_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 + 1.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.07sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.07sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.07sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.07sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009741 ms (missed cycles : 4). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009741 ms (missed cycles : 4).[0m ×2 + 1.94sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.94sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.95sINFOros2_control_node[2026-08-07 02:57:57.883] [info] Received new action goal ×2 + 1.95sINFOros2_control_node[2026-08-07 02:57:57.883] [info] Accepted new action goal ×2 + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818363 ms (missed cycles : 2).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786071479.03930283 seconds ×3 + 3.19sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.19sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.20sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229867 ms (missed cycles : 5). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.229867 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786071479.85099721 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sWARNros2_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 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783848 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783848 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.12sINFOros2_control_node[2026-08-07 02:58:01.046] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 02:58:01.046] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228961 ms (missed cycles : 5). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.228961 ms (missed cycles : 5).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666367 ms (missed cycles : 4). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.666367 ms (missed cycles : 4).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351465 ms (missed cycles : 6). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.351465 ms (missed cycles : 6).[0m ×2 + 8.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.81sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.81sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.81sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.81sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.82sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.572322 ms (missed cycles : 7). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.572322 ms (missed cycles : 7).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635162 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635162 ms (missed cycles : 3).[0m ×2 + 10.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 11.19sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 11.20sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.22sINFOros2_control_node[2026-08-07 02:58:07.146] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-08-07 02:58:07.146] [info] Accepted new action goal ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827096 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827096 ms (missed cycles : 2).[0m ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914521 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914521 ms (missed cycles : 3).[0m ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606751 ms (missed cycles : 3). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606751 ms (missed cycles : 3).[0m ×2 + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204810 ms (missed cycles : 4). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204810 ms (missed cycles : 4).[0m ×2 + 14.82sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786071490.75114012 seconds ×3 + 15.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071491.35184908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 15.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.65sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Received new action goal ×2 + 15.65sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Accepted new action goal ×2 + 15.79sWARNros2_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 ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3). + 15.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3).[0m ×2 + 16.91sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.92sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2).[0m ×2 + 17.30sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×12 + 17.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×8 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 11.5s | 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 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071494.42443132 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071495.05820608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×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 + 1.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 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 (2.66e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.00sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_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 + 3.32sINFOobjective_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 ×6 + 3.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071496.82239509 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786071497.45865440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNros2_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 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (7.91e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680046 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680046 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126912 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126912 ms (missed cycles : 4).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065289 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065289 ms (missed cycles : 2).[0m ×2 + 7.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.77sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.78sINFOros2_control_node[2026-08-07 02:58:21.012] [info] Received new action goal ×2 + 7.78sINFOros2_control_node[2026-08-07 02:58:21.012] [info] Accepted new action goal ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885994 ms (missed cycles : 2). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885994 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457954 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.457954 ms (missed cycles : 4).[0m ×2 + 9.61sINFOros2_control_node[2026-08-07 02:58:22.844] [info] Received new action goal ×2 + 9.61sINFOros2_control_node[2026-08-07 02:58:22.844] [info] Accepted new action goal ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.003325 ms (missed cycles : 7). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.003325 ms (missed cycles : 7).[0m ×2 + 11.12sWARNros2_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 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082269 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082269 ms (missed cycles : 5).[0m ×2 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407560 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407560 ms (missed cycles : 2).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112722 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112722 ms (missed cycles : 3).[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901069 ms (missed cycles : 4). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901069 ms (missed cycles : 4).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786071508.35023522 seconds ×3 + 15.77sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786071509.00507879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 15.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432743 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432743 ms (missed cycles : 2).[0m ×2 + 15.97sINFOobjective_server_nodeFound path in 5 iterations (0.0062743 s). ×2 + 16.03sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 16.05sINFOros2_control_node[2026-08-07 02:58:29.281] [info] Received new action goal ×2 + 16.05sINFOros2_control_node[2026-08-07 02:58:29.281] [info] Accepted new action goal ×2 + 16.18sWARNros2_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 + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902006 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902006 ms (missed cycles : 3).[0m ×2 + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598036 ms (missed cycles : 3). + 17.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598036 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.4s | 59 errors · 42 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2).[0m ×2 + 0.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Got request to cancel active goal. ×2 + 0.75sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Canceling active goal... ×2 + 0.75sERRORobjective_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: 1786071595.20075727 seconds ×3 + 0.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.97sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071595.87094998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071596.99108887 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786071597.58235335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.14sINFOobjective_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 + 3.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786071597.58444357 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786071598.17890406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786071598.17950749 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786071598.77539396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786071599.52551723 seconds ×3 + 5.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612274 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612274 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918094 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918094 ms (missed cycles : 2).[0m ×2 + 7.14sWARNros2_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 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787217 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787217 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046897 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.046897 ms (missed cycles : 4).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308421 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308421 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161344 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161344 ms (missed cycles : 2).[0m ×2 + 11.11sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.13sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORweb_video_auth_proxy-23process has died [pid 9051, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.14sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.15sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORweb_bridge_auth_proxy-22process has died [pid 9050, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.15sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.18sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.19sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.20sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.21sINFOvideo_server-21process has finished cleanly [pid 9049] ×2 + 11.22sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.23sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.24sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.25sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.26sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.27sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.28sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.30sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.31sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.32sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.34sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.34sINFOcontroller_managerShutdown request received.... + 11.34sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.34sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.34sINFOvideo_server2026/08/07 03:00:05 INF shutting down gracefully ×2 + 11.34sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.34sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.34sINFOvideo_server2026/08/07 03:00:05 INF [WebRTC] closing ×2 + 11.34sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.34sINFOvideo_server2026/08/07 03:00:05 INF [RTSP] closing ×2 + 11.34sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.34sINFOvideo_server2026/08/07 03:00:05 INF waiting for running hooks ×2 + 11.34sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.34sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.34sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.34sINFOcontroller_managerShutting down the controller manager. + 11.34sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.34sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.34sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.34sERRORmove_groupStack trace (most recent call last) in thread 9274: ×2 + 11.34sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.34sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50d894ea63, in __clone ×2 + 11.34sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50d88c1aa3, in ×2 + 11.34sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50d8b53db3, in ×2 + 11.34sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f50d92bfed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.34sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f50d8ee5620, in rclcpp::Rate::sleep() ×2 + 11.34sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f50d8e27d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.34sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f50d8de9087, in ×2 + 11.35sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50d8b22390, in __cxa_throw ×2 + 11.35sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50d8b0ca54, in std::terminate() ×2 + 11.35sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50d8b220d9, in ×2 + 11.35sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f50d8b0cff4, in ×2 + 11.35sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50d884d8fe, in abort ×2 + 11.35sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50d886a27d, in raise ×2 + 11.35sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f50d88c3b2c, in pthread_kill ×2 + 11.35sERRORmove_groupAborted (Signal sent by tkill() 8974 0) ×2 + 11.35sERRORmove_group-9process has died [pid 8974, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_gn7jpo_l --params-file /tmp/launch_params_xiwsg5o8 --params-file /tmp/launch_params_p_z0uvyl --params-file /tmp/launch_params_q7_2zgtv --params-file /tmp/launch_params_puh1iq4g --params-file /tmp/launch_params_etaut_jj']. ×2 + 11.35sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.35sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.35sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.35sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.35sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.35sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.35sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.35sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.35sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.35sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.35sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.35sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.35sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.35sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.35sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.35sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.35sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.35sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.35sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.35sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.35sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.55sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.55sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.55sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.23sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9048] ×2 + 12.23sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.31sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8978] ×2 + 12.32sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8977] ×2 + 12.33sINFOui_teleop_bridge-18process has finished cleanly [pid 8983] ×2 + 12.34sINFOcomponent_container_mt-16process has finished cleanly [pid 8981] ×2 + 12.34sINFOexecute_objective_bridge-17process has finished cleanly [pid 8982] ×2 + 12.37sINFOwaypoint_manager_node-11process has finished cleanly [pid 8976] ×2 + 12.40sINFOparameter_manager_node-10process has finished cleanly [pid 8975] ×2 + 12.45sINFOcomponent_container_mt-15process has finished cleanly [pid 8980] ×2 + 12.51sINFOobjective_server_node[0;m[2026-08-07 03:00:06.951] [moveit_pro_license] [info] ×2 + 12.51sINFOobjective_server_node************************************************* ×4 + 12.51sINFOobjective_server_node* MoveIt Pro License ×2 + 12.51sINFOobjective_server_node* Application has successfully terminated ×2 + 13.08sINFOobjective_server_node_main-14process has finished cleanly [pid 8979] ×2 + 13.08sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.46sINFOweb_bridge-19process has finished cleanly [pid 8984] ×2 + 13.46sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.97sINFOros2_control_node-1process has finished cleanly [pid 8937] ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 63 warnings · 145 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786071539.53526187 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786071540.30202675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-07 02:59:00.526] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-07 02:59:00.527] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356862 ms (missed cycles : 6). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.356862 ms (missed cycles : 6).[0m ×2 + 7.68sWARNros2_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 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473320 ms (missed cycles : 4). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.473320 ms (missed cycles : 4).[0m ×2 + 9.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.01sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.01sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.28sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.30sINFOobjective_server_nodeFound path in 0 iterations (9.82e-07 s). ×2 + 9.30sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (1.66e-07 s). ×2 + 9.35sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.37sINFOobjective_server_nodeFound path in 1 iterations (0.00311387 s). ×2 + 9.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.52sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.54sINFOros2_control_node[2026-08-07 02:59:05.474] [info] Received new action goal ×2 + 9.54sINFOros2_control_node[2026-08-07 02:59:05.474] [info] Accepted new action goal ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341553 ms (missed cycles : 5). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341553 ms (missed cycles : 5).[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377972 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.377972 ms (missed cycles : 2).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 12.02sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 12.02sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 12.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 13.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.92sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 13.93sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 14.76sINFOobjective_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 + 14.77sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 14.77sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 14.79sERRORobjective_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: 1786071550.72318387 seconds ×3 + 15.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 15.46sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.64sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 15.64sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.65sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 15.65sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 16.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 17.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373678 ms (missed cycles : 4). + 7.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.373678 ms (missed cycles : 4).[0m ×2 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460152 ms (missed cycles : 2). + 8.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.460152 ms (missed cycles : 2).[0m ×2 + 8.18sINFOobjective_server_nodeFound path in 0 iterations (3.13e-07 s). ×2 + 8.18sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.19sINFOobjective_server_nodeFound path in 0 iterations (1.99e-07 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.24e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (6.26e-07 s). ×2 + 8.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.33sINFOobjective_server_nodeFound path in 1 iterations (0.00273138 s). ×2 + 8.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 1 iterations (0.0040869 s). ×2 + 8.55sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (1.86e-07 s). ×2 + 8.68sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.70sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.93sINFOros2_control_node[2026-08-07 02:56:37.576] [info] Received new action goal ×2 + 8.93sINFOros2_control_node[2026-08-07 02:56:37.576] [info] Accepted new action goal ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283110 ms (missed cycles : 4). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283110 ms (missed cycles : 4).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312025 ms (missed cycles : 5). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.312025 ms (missed cycles : 5).[0m ×2 + 11.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042181 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042181 ms (missed cycles : 3).[0m ×2 + 11.36sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.64sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.64sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.64sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786071400.30191684 seconds ×3 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677254 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677254 ms (missed cycles : 3).[0m ×2 + 12.73sWARNros2_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 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494067 ms (missed cycles : 2). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494067 ms (missed cycles : 2).[0m ×2 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284751 ms (missed cycles : 5). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284751 ms (missed cycles : 5).[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786071403.92232060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410250 ms (missed cycles : 4). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410250 ms (missed cycles : 4).[0m ×2 + 15.47sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 15.48sINFOros2_control_node[2026-08-07 02:56:44.126] [info] Received new action goal ×2 + 15.48sINFOros2_control_node[2026-08-07 02:56:44.126] [info] Accepted new action goal ×2 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445116 ms (missed cycles : 3). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445116 ms (missed cycles : 3).[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576727 ms (missed cycles : 3). + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576727 ms (missed cycles : 3).[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 1.755170 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755170 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135739 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135739 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324173 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324173 ms (missed cycles : 2).[0m ×2 + 2.65sWARNros2_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 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091837 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091837 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786071572.18808699 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.90sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786071572.78541756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-08-07 02:59:32.930] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-08-07 02:59:32.930] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071303 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071303 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148475 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148475 ms (missed cycles : 4).[0m ×2 + 5.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955738 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955738 ms (missed cycles : 4).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948707 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948707 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963272 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963272 ms (missed cycles : 3).[0m ×2 + 8.63sWARNros2_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 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934614 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.934614 ms (missed cycles : 3).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3).[0m ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3).[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 13.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 14.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.31sERRORobjective_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: 1786071583.19568777 seconds ×3 + 14.54sWARNros2_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 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.97sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 15.60sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sINFOobjective_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 + 15.63sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 16.22sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.33sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 16.33sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.34sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 16.34sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 0.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 0.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.79sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.34sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.40sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.08sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 2.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.29sWARNros2_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 + 3.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.55sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.55sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.16sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_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 + 4.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.30sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 + 6.67sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.81sINFOros2_control_node[2026-08-07 02:55:56.073] [info] Received new action goal ×2 + 6.81sINFOros2_control_node[2026-08-07 02:55:56.073] [info] Accepted new action goal ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851543 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851543 ms (missed cycles : 3).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837664 ms (missed cycles : 3). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837664 ms (missed cycles : 3).[0m ×2 + 9.33sWARNros2_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 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014318 ms (missed cycles : 4). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014318 ms (missed cycles : 4).[0m ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480359 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480359 ms (missed cycles : 3).[0m ×2 + 10.55sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). ×2 + 10.57sINFOros2_control_node[2026-08-07 02:55:59.833] [info] Received new action goal ×2 + 10.57sINFOros2_control_node[2026-08-07 02:55:59.833] [info] Accepted new action goal ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453940 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453940 ms (missed cycles : 3).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 13.89sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 13.90sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.91sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 13.91sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 14.53sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 14.54sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 14.56sERRORobjective_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: 1786071363.81516552 seconds ×3 + 14.61sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.62sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.62sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.62sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 15.33sWARNros2_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 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 15.94sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.13sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 16.13sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.14sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 16.14sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 60 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNros2_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 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558846 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.558846 ms (missed cycles : 2).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837625 ms (missed cycles : 6). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.837625 ms (missed cycles : 6).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064280 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064280 ms (missed cycles : 2).[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735885 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735885 ms (missed cycles : 2).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512995 ms (missed cycles : 4). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512995 ms (missed cycles : 4).[0m ×2 + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966630 ms (missed cycles : 3). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966630 ms (missed cycles : 3).[0m ×2 + 12.78sWARNros2_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 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456071 ms (missed cycles : 4). + 13.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456071 ms (missed cycles : 4).[0m ×2 + 13.96sERRORobjective_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: 1786071561.69653559 seconds ×3 + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670643 ms (missed cycles : 2). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670643 ms (missed cycles : 2).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786071562.29433990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.83sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 14.84sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 14.85sINFOros2_control_node[2026-08-07 02:59:22.584] [info] Received new action goal ×2 + 14.85sINFOros2_control_node[2026-08-07 02:59:22.585] [info] Accepted new action goal ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400206 ms (missed cycles : 4). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400206 ms (missed cycles : 4).[0m ×2 + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600713 ms (missed cycles : 4). + 16.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600713 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042181 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042181 ms (missed cycles : 3).[0m ×2 + 0.23sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.52sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.52sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.52sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.54sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786071400.30191684 seconds ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677254 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677254 ms (missed cycles : 3).[0m ×2 + 1.61sWARNros2_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 ×4 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494067 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494067 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284751 ms (missed cycles : 5). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284751 ms (missed cycles : 5).[0m ×2 + 3.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.16sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786071403.92232060 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410250 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.410250 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 4.35sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.36sINFOros2_control_node[2026-08-07 02:56:44.126] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-07 02:56:44.126] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445116 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445116 ms (missed cycles : 3).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576727 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576727 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.407686 ms (missed cycles : 6). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.407686 ms (missed cycles : 6).[0m ×2 + 7.67sWARNros2_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 ×2 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.72sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.73sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.00sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.01sINFOobjective_server_nodeFound path in 0 iterations (1.82e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.02sINFOobjective_server_nodeFound path in 0 iterations (2.11e-07 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.08sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.14sINFOobjective_server_nodeFound path in 1 iterations (0.00282187 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 1 iterations (0.00411738 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612626 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612626 ms (missed cycles : 2).[0m ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 8.63sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.76sINFOros2_control_node[2026-08-07 02:56:48.529] [info] Received new action goal ×2 + 8.76sINFOros2_control_node[2026-08-07 02:56:48.529] [info] Accepted new action goal ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013887 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013887 ms (missed cycles : 3).[0m ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197116 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197116 ms (missed cycles : 2).[0m ×2 + 11.45sINFOobjective_server_nodeFound path in 0 iterations (6.91e-07 s). ×2 + 11.45sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.46sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 11.46sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.47sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 11.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.54sINFOobjective_server_nodeFound path in 1 iterations (0.00401944 s). ×2 + 11.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.71sINFOros2_control_node[2026-08-07 02:56:51.478] [info] Received new action goal ×2 + 11.71sINFOros2_control_node[2026-08-07 02:56:51.478] [info] Accepted new action goal ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821487 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821487 ms (missed cycles : 2).[0m ×2 + 12.14sINFOros2_control_node[2026-08-07 02:56:51.910] [info] Received new action goal ×2 + 12.14sINFOros2_control_node[2026-08-07 02:56:51.910] [info] Accepted new action goal ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120875 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120875 ms (missed cycles : 2).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565395 ms (missed cycles : 2). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565395 ms (missed cycles : 2).[0m ×2 + 14.43sINFOobjective_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 + 14.44sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.44sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.44sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.44sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.44sERRORobjective_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: 1786071414.20604038 seconds ×3 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939846 ms (missed cycles : 5). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939846 ms (missed cycles : 5).[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786071415.02276731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.39sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 15.40sINFOros2_control_node[2026-08-07 02:56:55.166] [info] Received new action goal ×2 + 15.40sINFOros2_control_node[2026-08-07 02:56:55.166] [info] Accepted new action goal ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611448 ms (missed cycles : 3). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611448 ms (missed cycles : 3).[0m ×2 + 16.16sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319855 ms (missed cycles : 4). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319855 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 54 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3).[0m ×2 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786071380.74584961 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786071381.36096907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786071381.45109558 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786071382.09471655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Accepted new action goal ×2 + 4.18sWARNros2_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 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3).[0m ×2 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.07sINFOros2_control_node[2026-08-07 02:56:25.569] [info] Received new action goal ×2 + 7.07sINFOros2_control_node[2026-08-07 02:56:25.569] [info] Accepted new action goal ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744415 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744415 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985469 ms (missed cycles : 2). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985469 ms (missed cycles : 2).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772149 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772149 ms (missed cycles : 2).[0m ×2 + 9.40sINFOobjective_server_nodeFound path in 0 iterations (3.88e-07 s). ×2 + 9.41sINFOros2_control_node[2026-08-07 02:56:27.906] [info] Received new action goal ×2 + 9.41sINFOros2_control_node[2026-08-07 02:56:27.906] [info] Accepted new action goal ×2 + 10.15sWARNros2_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 + 10.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 10.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 11.75sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 11.76sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 12.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 13.69sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.70sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 13.70sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 13.72sERRORobjective_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: 1786071392.21480918 seconds ×3 + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 14.36sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.55sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 14.55sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.57sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 14.57sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 16.17sWARNros2_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 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 57 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071583.19568777 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.89sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.69sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.023217 ms (missed cycles : 5). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.023217 ms (missed cycles : 5).[0m ×2 + 7.01sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.01sINFOros2_control_node[2026-08-07 02:59:48.550] [info] Received new action goal ×2 + 7.01sINFOros2_control_node[2026-08-07 02:59:48.550] [info] Accepted new action goal ×2 + 7.01sINFOros2_control_node[2026-08-07 02:59:48.550] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.311263 ms (missed cycles : 8). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.311263 ms (missed cycles : 8).[0m ×2 + 8.05sWARNros2_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 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683732 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683732 ms (missed cycles : 3).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423699 ms (missed cycles : 3). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423699 ms (missed cycles : 3).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2).[0m ×2 + 13.66sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Got request to cancel active goal. ×2 + 13.66sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Canceling active goal... ×2 + 13.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071595.20075727 seconds ×3 + 13.87sWARNros2_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 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4).[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071595.87094998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.39sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3).[0m ×2 + 15.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071596.99108887 seconds ×3 + 16.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786071597.58235335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786071597.58444357 seconds ×3 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5).[0m ×2 + 16.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786071598.17890406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786071598.17950749 seconds ×3 | ||||
| ✓ 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 6.512995 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512995 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966630 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966630 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456071 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456071 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_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: 1786071561.69653559 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670643 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670643 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786071562.29433990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.70sINFOros2_control_node[2026-08-07 02:59:22.584] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-08-07 02:59:22.585] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400206 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400206 ms (missed cycles : 4).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600713 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600713 ms (missed cycles : 4).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393537 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393537 ms (missed cycles : 2).[0m ×2 + 6.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.44 s); wrist_camera (1.44 s). The render path has stopped producing new frames for them.[0m ×2 + 7.72sINFOros2_control_node[2026-08-07 02:59:26.603] [info] Received new action goal ×2 + 7.72sINFOros2_control_node[2026-08-07 02:59:26.603] [info] Accepted new action goal ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784358 ms (missed cycles : 3). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784358 ms (missed cycles : 3).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406621 ms (missed cycles : 4). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.406621 ms (missed cycles : 4).[0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755170 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755170 ms (missed cycles : 2).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135739 ms (missed cycles : 6). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135739 ms (missed cycles : 6).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324173 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324173 ms (missed cycles : 2).[0m ×2 + 12.66sWARNros2_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 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091837 ms (missed cycles : 5). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091837 ms (missed cycles : 5).[0m ×2 + 13.31sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786071572.18808699 seconds ×3 + 13.90sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786071572.78541756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.03sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 14.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.05sINFOros2_control_node[2026-08-07 02:59:32.930] [info] Received new action goal ×2 + 14.05sINFOros2_control_node[2026-08-07 02:59:32.930] [info] Accepted new action goal ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071303 ms (missed cycles : 2). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071303 ms (missed cycles : 2).[0m ×2 + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148475 ms (missed cycles : 4). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148475 ms (missed cycles : 4).[0m ×2 + 15.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 15.96sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955738 ms (missed cycles : 4). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955738 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.4s | 37 warnings · 124 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786071427.60249090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.12sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786071429.73262143 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155229 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155229 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786071431.32893658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_node[2026-08-07 02:57:12.082] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808085 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808085 ms (missed cycles : 6).[0m ×2 + 5.23sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 + 5.23sINFOobjective_server_node[0;93m2026-08-07 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.43sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 5.91sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 5.91sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.05sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.12sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.12sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 6.12sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.14sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.52sINFOobjective_server_node[0;93m2026-08-07 02:57:14.118757431 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.54sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144576998 [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 + 6.54sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144611203 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2). + 6.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2).[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2).[0m ×2 + 8.49sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786071436.09157276 seconds ×3 + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3).[0m ×2 + 9.22sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786071436.82609558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.30sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 9.31sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 9.59sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 9.65sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Received new action goal ×2 + 9.65sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Accepted new action goal ×2 + 9.78sWARNros2_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 ×2 + 10.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3).[0m ×2 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786071426.26155257 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786071426.92172217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786071427.00185871 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786071427.60249090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786071429.73262143 seconds ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155229 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155229 ms (missed cycles : 2).[0m ×2 + 7.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786071431.32893658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 8.65sINFOobjective_server_node[2026-08-07 02:57:12.082] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808085 ms (missed cycles : 6). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808085 ms (missed cycles : 6).[0m ×2 + 9.39sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 + 9.39sINFOobjective_server_node[0;93m2026-08-07 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.59sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 10.08sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 10.08sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.22sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.28sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [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 + 10.29sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 10.29sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.31sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×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 · 34 warnings · 253 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-07 02:58:07.146] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-07 02:58:07.146] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827096 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827096 ms (missed cycles : 2).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914521 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914521 ms (missed cycles : 3).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606751 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606751 ms (missed cycles : 3).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204810 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204810 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786071490.75114012 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071491.35184908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.56sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Accepted new action goal ×2 + 4.70sWARNros2_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 ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_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 + 5.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2).[0m ×2 + 6.21sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.22sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071494.42443132 seconds ×3 + 7.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 8.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071495.05820608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 8.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.20sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 8.21sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Accepted new action goal ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3).[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3).[0m ×2 + 9.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071496.82239509 seconds ×3 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2).[0m ×2 + 10.44sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786071497.45865440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.54sWARNros2_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 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (7.91e-07 s). ×2 + 10.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 10.60sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Received new action goal ×2 + 10.60sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Accepted new action goal ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.4s | 21 errors · 28 warnings · 227 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786071490.75114012 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.60sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071491.35184908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.81sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.83sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Accepted new action goal ×2 + 0.97sWARNros2_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 ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.10sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2).[0m ×2 + 2.48sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.50sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071494.42443132 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.31sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071495.05820608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 4.48sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071496.82239509 seconds ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2).[0m ×2 + 6.71sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786071497.45865440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.81sWARNros2_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 + 6.86sINFOobjective_server_nodeFound path in 0 iterations (7.91e-07 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.88sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Accepted new action goal ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680046 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680046 ms (missed cycles : 2).[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126912 ms (missed cycles : 4). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126912 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 27 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Canceling active goal... ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071595.20075727 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.07sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071595.87094998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071596.99108887 seconds ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786071597.58235335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786071597.58444357 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786071598.17890406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786071598.17950749 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4).[0m ×2 + 6.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786071598.77539396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.18sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786071599.52551723 seconds ×3 + 7.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612274 ms (missed cycles : 3). | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 32 warnings · 531 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.00sINFOobjective_server_node[2026-08-07 02:55:45.070] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.11sINFOobjective_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 + 0.11sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.13sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.13sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.52sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.58sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.58sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.84sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.93sINFOcomponent_container_mt[2026-08-07 02:55:45.998] [moveit_pro_license] [info] ×2 + 0.93sINFOcomponent_container_mt************************************************* ×4 + 0.93sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.93sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.99sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.09sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.09sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.09sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.21sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.21sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.22sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.22sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.23sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.25sINFOros2_control_node[2026-08-07 02:55:46.318] [info] Controller state will be published at 10 Hz. ×2 + 1.25sINFOros2_control_node[2026-08-07 02:55:46.319] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.34sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.55sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.55sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.58sINFOros2-7process has finished cleanly [pid 8943] ×2 + 1.69sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.69sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.74sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.74sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.74sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.74sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.77sINFOros2_control_node[2026-08-07 02:55:46.832] [info] Controller state will be published at 20 Hz. ×2 + 1.77sINFOros2_control_node[2026-08-07 02:55:46.833] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5).[0m ×2 + 2.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.12sINFOros2-8process has finished cleanly [pid 8944] ×2 + 2.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 2.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 2.22sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.25sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.25sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.25sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.25sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.25sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.25sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.27sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.28sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 2.28sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.56sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.56sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.56sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.57sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 2.57sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 2.57sINFOros2-6process has finished cleanly [pid 8942] ×2 + 2.61sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.62sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.62sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×19 + 2.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 2.63sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.63sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.95sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.95sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.95sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.95sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.95sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 2.95sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 2.96sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.96sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.97sINFOros2-4process has finished cleanly [pid 8940] ×2 + 2.99sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.99sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.99sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.99sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.00sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 3.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 3.03sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.03sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 3.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.26sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.33sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.33sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.33sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.33sINFOros2-3process has finished cleanly [pid 8939] ×2 + 3.33sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 3.33sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 3.40sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 3.40sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 3.41sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.41sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 3.41sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.41sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.41sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 3.41sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.41sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.41sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.41sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 3.41sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.41sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 3.41sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.42sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 3.42sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.74sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.74sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.74sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.74sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.74sINFOros2-5process has finished cleanly [pid 8941] ×2 + 3.74sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 3.74sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 3.78sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.78sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.78sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.79sINFOforce_torque_sensor_broadcasterconfigure successful + 3.79sINFOros2_control_nodeconfigure successful[0m ×2 + 3.79sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.80sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.80sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.11sINFOros2-2process has finished cleanly [pid 8938] ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.95sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.95sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.95sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 4.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 4.98sWARNros2_control_nodeCamera render tick took 1.86 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 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 6.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 7.48sWARNros2_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 + 7.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 8.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.36sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][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 4.453940 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453940 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.28sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1786071363.81516552 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 3.70sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3).[0m ×2 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786071426.26155257 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786071426.92172217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786071427.00185871 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786071427.60249090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786071429.73262143 seconds ×3 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273073 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.273073 ms (missed cycles : 6).[0m ×2 + 0.13sWARNros2_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 + 0.22sINFOros2_control_node[2026-08-07 02:56:17.447] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-08-07 02:56:17.447] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.12sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.13sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Accepted new action goal ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786071380.74584961 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.52sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.52sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.52sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3). + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786071381.36096907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786071381.45109558 seconds ×3 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786071382.09471655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.97sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.98sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.99sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Received new action goal ×2 + 4.99sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Accepted new action goal ×2 + 5.45sWARNros2_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 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 26 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786071583.19568777 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.98sWARNros2_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 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 28 warnings · 441 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 8943] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.832] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.833] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5).[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2-8process has finished cleanly [pid 8944] ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.65sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 0.74sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.02sINFOros2-6process has finished cleanly [pid 8942] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.40sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.40sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.41sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 8940] ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 1.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8939] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.19sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.19sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.19sINFOros2-5process has finished cleanly [pid 8941] ×2 + 2.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 2.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 2.24sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.24sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.24sINFOforce_torque_sensor_broadcasterconfigure successful + 2.24sINFOros2_control_nodeconfigure successful[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.25sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.56sINFOros2-2process has finished cleanly [pid 8938] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 5.93sWARNros2_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 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.82sINFOobjective_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 + 6.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 6.92sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.94sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×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 4.320023 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 2.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sERRORobjective_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: 1786071583.19568777 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sWARNros2_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 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.41sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.42sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_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 + 4.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.77sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 26 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2).[0m ×2 + 1.82sINFOobjective_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 + 1.83sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Got request to cancel active goal. ×2 + 1.83sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Canceling active goal... ×2 + 1.83sERRORobjective_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: 1786071595.20075727 seconds ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.92sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.92sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.93sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.93sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.04sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4).[0m ×2 + 2.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071595.87094998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071596.99108887 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786071597.58235335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.21sINFOobjective_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 + 4.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786071597.58444357 seconds ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786071598.17890406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786071598.17950749 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4).[0m ×2 + 5.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786071598.77539396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786071599.52551723 seconds ×3 + 6.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612274 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612274 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 26 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2).[0m ×2 + 0.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.75sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Got request to cancel active goal. ×2 + 0.75sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Canceling active goal... ×2 + 0.75sERRORobjective_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: 1786071595.20075727 seconds ×3 + 0.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.97sWARNros2_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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4).[0m ×2 + 1.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071595.87094998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.49sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071596.99108887 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786071597.58235335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.14sINFOobjective_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 + 3.14sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.14sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786071597.58444357 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786071598.17890406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786071598.17950749 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393812 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786071598.77539396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786071599.52551723 seconds ×3 + 5.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612274 ms (missed cycles : 3). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612274 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918094 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918094 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 20 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-07 02:57:14.118757431 [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 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144576998 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144611203 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786071436.09157276 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786071436.82609558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Accepted new action goal ×2 + 4.55sWARNros2_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 ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2).[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 8.129582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 1.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 1.90sERRORobjective_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: 1786071363.81516552 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 2.68sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3).[0m ×2 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786071380.74584961 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_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 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786071381.36096907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786071381.45109558 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786071382.09471655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Accepted new action goal ×2 + 4.18sWARNros2_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 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 20 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 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345808 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071494.42443132 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.82sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071495.05820608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×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 + 1.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 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 (2.66e-07 s). ×2 + 1.99sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.00sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Received new action goal ×2 + 2.00sINFOros2_control_node[2026-08-07 02:58:15.232] [info] Accepted new action goal ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744545 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.823598 ms (missed cycles : 3).[0m ×2 + 3.30sINFOobjective_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 ] + 3.32sINFOros2_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 + 3.59sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786071496.82239509 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.708935 ms (missed cycles : 2).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786071497.45865440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNros2_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 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (7.91e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 02:58:17.626] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680046 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680046 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126912 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126912 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786071539.53526187 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786071540.30202675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-07 02:59:00.526] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-07 02:59:00.527] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 50 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998122 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769534 ms (missed cycles : 3).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.159754 ms (missed cycles : 4).[0m ×2 + 2.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.80sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.80sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.959289 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786071539.53526187 seconds ×3 + 3.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786071540.30202675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515211 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.60sINFOros2_control_node[2026-08-07 02:59:00.526] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-07 02:59:00.527] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918056 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236644 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Canceling active goal... ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071595.20075727 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.07sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071595.87094998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071596.99108887 seconds ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786071597.58235335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786071597.58444357 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786071598.17890406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786071598.17950749 seconds ×3 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.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 4.453940 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453940 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.28sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1786071363.81516552 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 3.70sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_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 4.453940 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453940 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.26sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.28sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 2.28sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 2.90sINFOobjective_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 + 2.91sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 2.91sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 2.92sERRORobjective_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: 1786071363.81516552 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 3.70sWARNros2_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 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 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 8.129582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 1.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 1.90sERRORobjective_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: 1786071363.81516552 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 2.68sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5).[0m ×2 | ||||
| − 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 8.129582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 1.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 1.90sERRORobjective_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: 1786071363.81516552 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 2.68sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 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 8.129582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129582 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137194 ms (missed cycles : 2).[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.24sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Received new action goal ×2 + 1.26sINFOros2_control_node[2026-08-07 02:56:03.173] [info] Accepted new action goal ×2 + 1.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Got request to cancel active goal. ×2 + 1.88sINFOros2_control_node[2026-08-07 02:56:03.799] [info] Canceling active goal... ×2 + 1.90sERRORobjective_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: 1786071363.81516552 seconds ×3 + 1.96sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.96sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.96sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.96sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.97sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.858950 ms (missed cycles : 5).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786071364.45550489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.66sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786071364.57562065 seconds ×3 + 2.68sWARNros2_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 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.655199 ms (missed cycles : 6).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786071365.20135903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.47sINFOobjective_server_nodeFound path in 0 iterations (3.01e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-07 02:56:05.395] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.011670 ms (missed cycles : 5).[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.891996 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3).[0m ×2 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786071380.74584961 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_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 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786071381.36096907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786071381.45109558 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786071382.09471655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Accepted new action goal ×2 + 4.18sWARNros2_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 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3).[0m ×2 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786071380.74584961 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_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 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786071381.36096907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786071381.45109558 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786071382.09471655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Accepted new action goal ×2 + 4.18sWARNros2_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 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534528 ms (missed cycles : 3).[0m ×2 + 0.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Received new action goal ×2 + 0.86sINFOros2_control_node[2026-08-07 02:56:19.359] [info] Accepted new action goal ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784948 ms (missed cycles : 3).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786071380.74584961 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.25sINFOros2_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 + 2.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670837 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786071381.36096907 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786071381.45109558 seconds ×3 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207728 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786071382.09471655 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-08-07 02:56:22.220] [info] Accepted new action goal ×2 + 4.18sWARNros2_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 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.614402 ms (missed cycles : 4).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3). + 5.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625742 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNros2_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 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493572 ms (missed cycles : 3).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681065 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.61sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). ×2 + 1.61sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-07 02:56:30.256] [info] Accepted new action goal ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269558 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-07 02:56:32.194] [info] Canceling active goal... ×2 + 3.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2). + 3.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071392.21480918 seconds ×3 + 3.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.844318 ms (missed cycles : 2).[0m ×2 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786071392.85971808 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.22sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:56:33.064] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.360691 ms (missed cycles : 6).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7). + 5.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.436978 ms (missed cycles : 7).[0m ×2 + 6.02sWARNros2_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 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 80 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.91e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.00sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (2.19e-07 s). ×2 + 0.06sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.09sINFOobjective_server_nodeFound path in 1 iterations (0.00401944 s). ×2 + 0.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.26sINFOros2_control_node[2026-08-07 02:56:51.478] [info] Received new action goal ×2 + 0.26sINFOros2_control_node[2026-08-07 02:56:51.478] [info] Accepted new action goal ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821487 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821487 ms (missed cycles : 2).[0m ×2 + 0.69sINFOros2_control_node[2026-08-07 02:56:51.910] [info] Received new action goal ×2 + 0.69sINFOros2_control_node[2026-08-07 02:56:51.910] [info] Accepted new action goal ×2 + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120875 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120875 ms (missed cycles : 2).[0m ×2 + 2.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.22sWARNros2_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 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565395 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.565395 ms (missed cycles : 2).[0m ×2 + 2.97sINFOobjective_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 + 2.98sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.98sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.98sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.98sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.99sERRORobjective_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: 1786071414.20604038 seconds ×3 + 2.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939846 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.939846 ms (missed cycles : 5).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786071415.02276731 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 3.95sINFOros2_control_node[2026-08-07 02:56:55.166] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-07 02:56:55.166] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611448 ms (missed cycles : 3). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.611448 ms (missed cycles : 3).[0m ×2 + 4.71sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319855 ms (missed cycles : 4). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319855 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926893 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145608 ms (missed cycles : 3).[0m ×2 + 1.98sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680456 ms (missed cycles : 5).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786071426.26155257 seconds ×3 + 2.83sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.85sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.597628 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786071426.92172217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.53sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786071427.00185871 seconds ×3 + 4.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786071427.60249090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Accepted new action goal ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2).[0m ×2 + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 67 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786071427.60249090 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (2.65e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.12sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-07 02:57:07.726] [info] Accepted new action goal ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902048 ms (missed cycles : 2).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.210912 ms (missed cycles : 5).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786071429.73262143 seconds ×3 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014201 ms (missed cycles : 4).[0m ×2 + 3.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.14sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155229 ms (missed cycles : 2). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155229 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786071431.32893658 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_node[2026-08-07 02:57:12.082] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808085 ms (missed cycles : 6). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.808085 ms (missed cycles : 6).[0m ×2 + 5.23sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 + 5.23sINFOobjective_server_node[0;93m2026-08-07 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.43sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 5.91sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 5.91sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.05sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.12sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.12sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 6.12sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.14sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 20 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-07 02:57:14.118757431 [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 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144576998 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144611203 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786071436.09157276 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786071436.82609558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Accepted new action goal ×2 + 4.55sWARNros2_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 ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 20 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-07 02:57:14.118757431 [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 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144576998 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144611203 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786071436.09157276 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786071436.82609558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Accepted new action goal ×2 + 4.55sWARNros2_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 ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 20 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-07 02:57:14.118757431 [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 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144576998 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144611203 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786071436.09157276 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786071436.82609558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Accepted new action goal ×2 + 4.55sWARNros2_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 ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 20 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 02:57:12.826978589 [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 02:57:12.827011309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 02:57:13.029] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478834 ms (missed cycles : 6).[0m ×2 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511009068 [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 + 0.68sINFOobjective_server_node[0;93m2026-08-07 02:57:13.511039766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.83sINFOobjective_server_node[2026-08-07 02:57:13.657] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-07 02:57:13.717431539 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722040259 [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 + 0.90sINFOobjective_server_node[0;93m2026-08-07 02:57:13.722073178 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 02:57:13.742] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-07 02:57:14.118757431 [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 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144576998 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 02:57:14.144611203 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232611 ms (missed cycles : 2).[0m ×2 + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2). + 2.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512815 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786071436.09157276 seconds ×3 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.33sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599050 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786071436.82609558 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.08sINFOobjective_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 + 4.09sINFOobjective_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 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Received new action goal ×2 + 4.42sINFOros2_control_node[2026-08-07 02:57:17.246] [info] Accepted new action goal ×2 + 4.55sWARNros2_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 ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.736646 ms (missed cycles : 6).[0m ×2 + 5.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464836 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 12 errors · 20 warnings · 108 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-07 02:58:07.146] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-07 02:58:07.146] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827096 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827096 ms (missed cycles : 2).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914521 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914521 ms (missed cycles : 3).[0m ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606751 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606751 ms (missed cycles : 3).[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204810 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204810 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786071490.75114012 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786071491.35184908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.56sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Received new action goal ×2 + 4.56sINFOros2_control_node[2026-08-07 02:58:11.577] [info] Accepted new action goal ×2 + 4.70sWARNros2_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 ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547803 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_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 + 5.83sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.87sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313207 ms (missed cycles : 2).[0m ×2 + 6.21sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×12 + 6.22sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×8 | ||||
| − 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 8.082269 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.082269 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407560 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.407560 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112722 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112722 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901069 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901069 ms (missed cycles : 4).[0m ×2 + 3.19sINFOobjective_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 + 3.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.25sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.51sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786071508.35023522 seconds ×3 + 3.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786071509.00507879 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432743 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432743 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.26sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOobjective_server_nodeFound path in 5 iterations (0.0062743 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.44sINFOros2_control_node[2026-08-07 02:58:29.281] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-07 02:58:29.281] [info] Accepted new action goal ×2 + 4.57sWARNros2_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 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902006 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902006 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598036 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598036 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 26 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004101 ms (missed cycles : 2).[0m ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Received new action goal ×2 + 0.21sINFOros2_control_node[2026-08-07 02:59:07.947] [info] Accepted new action goal ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 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 6.838736 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.838736 ms (missed cycles : 5).[0m ×2 + 1.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Received new action goal ×2 + 2.12sINFOros2_control_node[2026-08-07 02:59:09.855] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.294165 ms (missed cycles : 5).[0m ×2 + 2.95sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.96sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Got request to cancel active goal. ×2 + 2.97sINFOros2_control_node[2026-08-07 02:59:10.702] [info] Canceling active goal... ×2 + 2.99sERRORobjective_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: 1786071550.72318387 seconds ×3 + 3.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606392 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786071551.39611650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 3.83sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Received new action goal ×2 + 3.84sINFOros2_control_node[2026-08-07 02:59:11.580] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.137356 ms (missed cycles : 4).[0m ×2 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390272 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512995 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512995 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966630 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966630 ms (missed cycles : 3).[0m ×2 + 1.64sWARNros2_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 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456071 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.456071 ms (missed cycles : 4).[0m ×2 + 2.81sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sERRORobjective_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: 1786071561.69653559 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.83sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.83sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.83sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.83sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.84sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.84sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.84sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670643 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670643 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786071562.29433990 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.69sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.70sINFOros2_control_node[2026-08-07 02:59:22.584] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-08-07 02:59:22.585] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400206 ms (missed cycles : 4). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.400206 ms (missed cycles : 4).[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600713 ms (missed cycles : 4). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.600713 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755170 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755170 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135739 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.135739 ms (missed cycles : 6).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324173 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324173 ms (missed cycles : 2).[0m ×2 + 2.65sWARNros2_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 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091837 ms (missed cycles : 5). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.091837 ms (missed cycles : 5).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786071572.18808699 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786071572.78541756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.03sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 4.03sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.04sINFOros2_control_node[2026-08-07 02:59:32.930] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-08-07 02:59:32.930] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071303 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071303 ms (missed cycles : 2).[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148475 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.148475 ms (missed cycles : 4).[0m ×2 + 5.95sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.95sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955738 ms (missed cycles : 4). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955738 ms (missed cycles : 4).[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 4.682360 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786071583.19568777 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.98sWARNros2_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 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[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 4.682360 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786071583.19568777 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.98sWARNros2_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 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[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 4.682360 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786071583.19568777 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.98sWARNros2_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 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[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 4.682360 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.682360 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320023 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 3.74sINFOobjective_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 + 3.75sERRORobjective_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: 1786071583.19568777 seconds ×3 + 3.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.98sWARNros2_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 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.06sINFOobjective_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 + 5.06sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 5.66sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071583.19568777 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.89sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.69sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977567 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.432131 ms (missed cycles : 4).[0m ×2 + 1.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071583.19568777 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.89sWARNros2_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 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260930 ms (missed cycles : 5).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786071583.82259870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786071583.89274406 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786071584.49116230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.97sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786071584.51314449 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011723 ms (missed cycles : 4).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786071585.10597968 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.58sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.68sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 3.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.69sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-07 02:59:45.229] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552331 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.554983 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971521 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.901303 ms (missed cycles : 8).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348783 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Got request to cancel active goal. ×2 + 2.85sINFOros2_control_node[2026-08-07 02:59:55.196] [info] Canceling active goal... ×2 + 2.85sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786071595.20075727 seconds ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.94sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.94sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.95sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.95sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.07sWARNros2_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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.498775 ms (missed cycles : 4).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786071595.87094998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012059 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786071596.99108887 seconds ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786071597.58235335 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.24sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.24sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.24sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786071597.58444357 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.080550 ms (missed cycles : 5).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786071598.17890406 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.83sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786071598.17950749 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.7s | 33 warnings · 564 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/2026-08-07-02-55-39-582776-687c4baf7aca-8889 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929155 ms (missed cycles : 2). + 2.06sINFOros2_control_node-1process started with pid [8937] ×2 + 2.06sINFOmove_group-9process started with pid [8974] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8975] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8976] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8977] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8978] ×2 + 2.07sINFOobjective_server_node_main-14process started with pid [8979] ×2 + 2.07sINFOcomponent_container_mt-15process started with pid [8980] ×2 + 2.07sINFOcomponent_container_mt-16process started with pid [8981] ×2 + 2.07sINFOexecute_objective_bridge-17process started with pid [8982] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8983] ×2 + 2.07sINFOweb_bridge-19process started with pid [8984] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [9048] ×2 + 2.07sINFOvideo_server-21process started with pid [9049] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [9050] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [9051] ×2 + 2.10sINFOros2-2process started with pid [8938] ×2 + 2.10sINFOros2-3process started with pid [8939] ×2 + 2.10sINFOros2-4process started with pid [8940] ×2 + 2.10sINFOros2-5process started with pid [8941] ×2 + 2.10sINFOros2-6process started with pid [8942] ×2 + 2.10sINFOros2-7process started with pid [8943] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOros2-8process started with pid [8944] ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.14sWARNros2_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 + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929155 ms (missed cycles : 2).[0m ×2 + 2.14sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.14sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.15sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.38sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF configuration loaded from /tmp/moveit-webrtc-ohyadlu4/mediamtx.yml ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.99sINFOmove_group[2026-08-07 02:55:43.323] [moveit_pro_license] [info] ×2 + 2.99sINFOmove_group************************************************* ×4 + 2.99sINFOmove_group* MoveIt Pro License ×2 + 2.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212632 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212632 ms (missed cycles : 2).[0m ×2 + 3.36sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.36sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.36sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.59sINFOwaypoint_manager_node[2026-08-07 02:55:43.919] [moveit_pro_license] [info] ×2 + 3.59sINFOwaypoint_manager_node************************************************* ×4 + 3.59sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.59sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.65sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.75sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.79sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.80sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.80sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.80sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.81sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.81sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.82sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.89sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.98sINFOmove_group ×4 + 3.98sINFOmove_group[92mYou can start planning now![0m ×2 + 4.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.73sINFOobjective_server_node[2026-08-07 02:55:45.070] [moveit_pro_license] [info] ×2 + 4.73sINFOobjective_server_node************************************************* ×4 + 4.73sINFOobjective_server_node* MoveIt Pro License ×2 + 4.73sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.84sINFOobjective_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 + 4.84sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.85sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.85sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.85sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.85sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.85sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.85sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.85sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.86sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.25sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 5.31sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.31sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.57sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.57sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.57sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.57sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.57sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.57sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.57sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.57sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.57sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.57sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.57sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.57sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.57sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.57sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.66sINFOcomponent_container_mt[2026-08-07 02:55:45.998] [moveit_pro_license] [info] ×2 + 5.66sINFOcomponent_container_mt************************************************* ×4 + 5.66sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.66sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.81sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 5.81sINFOcontroller_managerLoading controller 'velocity_force_controller' + 5.82sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 5.82sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 5.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 5.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 5.95sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 5.95sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 5.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 5.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 5.96sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.98sINFOros2_control_node[2026-08-07 02:55:46.318] [info] Controller state will be published at 10 Hz. ×2 + 5.98sINFOros2_control_node[2026-08-07 02:55:46.319] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.07sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.27sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.27sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.28sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.28sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.30sINFOros2-7process has finished cleanly [pid 8943] ×2 + 6.42sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 6.42sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 6.47sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.47sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.47sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.47sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.50sINFOros2_control_node[2026-08-07 02:55:46.832] [info] Controller state will be published at 20 Hz. ×2 + 6.50sINFOros2_control_node[2026-08-07 02:55:46.833] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5).[0m ×2 + 6.85sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 6.85sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 6.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 6.85sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 6.85sINFOros2-8process has finished cleanly [pid 8944] ×2 + 6.92sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 6.92sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 6.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.97sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.97sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.97sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.98sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.98sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.98sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.00sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.00sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 7.01sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.29sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.29sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.29sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.29sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.30sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 7.30sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 7.30sINFOros2-6process has finished cleanly [pid 8942] ×2 + 7.34sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.34sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.34sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.34sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.34sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.35sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.35sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.35sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.35sINFOcontroller_managerSuccessfully switched controllers! ×12 + 7.35sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 7.36sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.36sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.67sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.68sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.68sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.68sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.68sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 7.68sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 7.69sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.69sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.70sINFOros2-4process has finished cleanly [pid 8940] ×2 + 7.72sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.72sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.72sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.72sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.72sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.72sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.73sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 7.73sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 7.73sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 7.76sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.76sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.97sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.98sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 7.99sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 7.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 7.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 8.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 8.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 8.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.06sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.06sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.06sINFOros2-3process has finished cleanly [pid 8939] ×2 + 8.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 8.06sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 8.13sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.13sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.13sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 8.13sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.13sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 8.13sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.14sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.14sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 8.14sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.14sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 8.14sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 8.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.15sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 8.15sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.47sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.47sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.47sINFOros2-5process has finished cleanly [pid 8941] ×2 + 8.47sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 8.47sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 8.51sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.51sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.51sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.51sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.52sINFOforce_torque_sensor_broadcasterconfigure successful + 8.52sINFOros2_control_nodeconfigure successful[0m ×2 + 8.52sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.52sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.53sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.57sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.58sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.58sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.83sINFOros2-2process has finished cleanly [pid 8938] ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 9.63sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 9.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 9.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 9.71sWARNros2_control_nodeCamera render tick took 1.86 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 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 10.26sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 11.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.02sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 31 warnings · 354 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_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [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 + 0.03sINFOros2-4process has finished cleanly [pid 8940] ×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 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.38sINFOros2-3process has finished cleanly [pid 8939] ×2 + 0.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.46sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.46sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.46sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.47sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.47sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.47sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.79sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.79sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.79sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.84sINFOforce_torque_sensor_broadcasterconfigure successful + 0.84sINFOros2_control_nodeconfigure successful[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOros2-2process has finished cleanly [pid 8938] ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.04sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 4.53sWARNros2_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 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.52sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 5.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.54sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 5.54sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 418 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 8944] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 8942] ×2 + 0.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.83sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.84sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-4process has finished cleanly [pid 8940] ×2 + 0.87sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.87sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.87sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 0.91sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.21sINFOros2-3process has finished cleanly [pid 8939] ×2 + 1.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.30sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOros2-5process has finished cleanly [pid 8941] ×2 + 1.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.66sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.66sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.67sINFOforce_torque_sensor_broadcasterconfigure successful + 1.67sINFOros2_control_nodeconfigure successful[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.68sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.68sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2-2process has finished cleanly [pid 8938] ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.86sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 5.36sWARNros2_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 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 6.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.37sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 28 warnings · 433 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 8943] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.832] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.833] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5).[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2-8process has finished cleanly [pid 8944] ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.65sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 0.74sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.02sINFOros2-6process has finished cleanly [pid 8942] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.40sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.40sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.41sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 8940] ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 1.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8939] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.19sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.19sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.19sINFOros2-5process has finished cleanly [pid 8941] ×2 + 2.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 2.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 2.24sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.24sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.24sINFOforce_torque_sensor_broadcasterconfigure successful + 2.24sINFOros2_control_nodeconfigure successful[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.25sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.56sINFOros2-2process has finished cleanly [pid 8938] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 5.93sWARNros2_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 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.82sINFOobjective_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 + 6.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][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/2026-08-07-02-55-39-582776-687c4baf7aca-8889 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_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. + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929155 ms (missed cycles : 2). + 2.06sINFOros2_control_node-1process started with pid [8937] ×2 + 2.06sINFOmove_group-9process started with pid [8974] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8975] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8976] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8977] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8978] ×2 + 2.07sINFOobjective_server_node_main-14process started with pid [8979] ×2 + 2.07sINFOcomponent_container_mt-15process started with pid [8980] ×2 + 2.07sINFOcomponent_container_mt-16process started with pid [8981] ×2 + 2.07sINFOexecute_objective_bridge-17process started with pid [8982] ×2 + 2.07sINFOui_teleop_bridge-18process started with pid [8983] ×2 + 2.07sINFOweb_bridge-19process started with pid [8984] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [9048] ×2 + 2.07sINFOvideo_server-21process started with pid [9049] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [9050] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [9051] ×2 + 2.10sINFOros2-2process started with pid [8938] ×2 + 2.10sINFOros2-3process started with pid [8939] ×2 + 2.10sINFOros2-4process started with pid [8940] ×2 + 2.10sINFOros2-5process started with pid [8941] ×2 + 2.10sINFOros2-6process started with pid [8942] ×2 + 2.10sINFOros2-7process started with pid [8943] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.10sINFOros2-8process started with pid [8944] ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.14sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.14sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.14sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.14sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.14sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.14sWARNros2_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 + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929155 ms (missed cycles : 2).[0m ×2 + 2.14sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.14sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.15sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.38sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF configuration loaded from /tmp/moveit-webrtc-ohyadlu4/mediamtx.yml ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.48sINFOvideo_server2026/08/07 02:55:42 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 418 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.00sINFOros2-8process has finished cleanly [pid 8944] ×2 + 0.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.12sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.13sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.15sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 0.16sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.44sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.44sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.44sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.45sINFOros2-6process has finished cleanly [pid 8942] ×2 + 0.49sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.49sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.50sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.50sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.50sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.50sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.50sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.50sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.51sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.51sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.83sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.83sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.83sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.83sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.84sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-4process has finished cleanly [pid 8940] ×2 + 0.87sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.87sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.87sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.87sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.88sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 0.91sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.91sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 1.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.21sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.21sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.21sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.21sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.21sINFOros2-3process has finished cleanly [pid 8939] ×2 + 1.21sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.21sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.29sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.29sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.30sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.30sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.62sINFOros2-5process has finished cleanly [pid 8941] ×2 + 1.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.66sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.66sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.66sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.67sINFOforce_torque_sensor_broadcasterconfigure successful + 1.67sINFOros2_control_nodeconfigure successful[0m ×2 + 1.67sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.68sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.68sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.99sINFOros2-2process has finished cleanly [pid 8938] ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 2.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.86sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 3.41sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 5.36sWARNros2_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 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.61sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.61sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 6.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOobjective_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 + 6.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.35sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 6.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.37sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 6.37sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 28 warnings · 433 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 8943] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.832] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.833] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5).[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2-8process has finished cleanly [pid 8944] ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.65sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 0.74sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.02sINFOros2-6process has finished cleanly [pid 8942] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.40sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.40sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.41sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 8940] ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 1.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8939] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.19sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.19sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.19sINFOros2-5process has finished cleanly [pid 8941] ×2 + 2.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 2.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 2.24sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.24sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.24sINFOforce_torque_sensor_broadcasterconfigure successful + 2.24sINFOros2_control_nodeconfigure successful[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.25sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.56sINFOros2-2process has finished cleanly [pid 8938] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 5.93sWARNros2_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 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.82sINFOobjective_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 + 6.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 28 warnings · 433 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.03sINFOros2-7process has finished cleanly [pid 8943] ×2 + 0.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.19sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.19sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.20sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.832] [info] Controller state will be published at 20 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 02:55:46.833] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354293 ms (missed cycles : 5).[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.57sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.57sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.58sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.58sINFOros2-8process has finished cleanly [pid 8944] ×2 + 0.65sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.65sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.70sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.70sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.70sINFOros2_control_node[2026-08-07 02:55:47.313] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.73sINFOros2_control_node[2026-08-07 02:55:47.340] [info] Controller state will be published at 50 Hz. ×2 + 0.74sINFOros2_control_node[2026-08-07 02:55:47.350] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.02sINFOros2-6process has finished cleanly [pid 8942] ×2 + 1.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.08sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.40sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.40sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.40sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.40sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.40sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.41sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.41sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.43sINFOros2-4process has finished cleanly [pid 8940] ×2 + 1.45sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.45sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.45sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.45sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.45sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.45sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 1.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 1.46sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 1.48sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.48sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 1.71sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 1.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.72sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.73sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 1.73sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 1.78sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.78sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.78sINFOros2-3process has finished cleanly [pid 8939] ×2 + 1.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 1.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 1.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.86sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.87sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.87sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.19sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.19sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.19sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.19sINFOros2-5process has finished cleanly [pid 8941] ×2 + 2.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 2.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 2.24sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.24sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.24sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.24sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.24sINFOforce_torque_sensor_broadcasterconfigure successful + 2.24sINFOros2_control_nodeconfigure successful[0m ×2 + 2.25sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.25sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.25sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.25sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.56sINFOros2-2process has finished cleanly [pid 8938] ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 3.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 3.44sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 5.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 5.93sWARNros2_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 + 6.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.18sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.19sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.19sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 6.81sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.82sINFOobjective_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 + 6.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 28 warnings · 354 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_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [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 + 0.03sINFOros2-4process has finished cleanly [pid 8940] ×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 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] ×2 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×4 + 0.05sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 25.078375 ms (missed cycles : 16).[0m ×2 + 0.08sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786071348.30844760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786071348.31872892 seconds ×3 + 0.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller ] + 0.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.32sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller ] + 0.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller ][0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.38sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.38sINFOros2-3process has finished cleanly [pid 8939] ×2 + 0.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.39sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.46sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.46sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.46sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.46sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.46sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.47sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.47sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.47sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.79sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.79sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.79sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.79sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.79sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.84sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.84sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.84sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.84sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.84sINFOforce_torque_sensor_broadcasterconfigure successful + 0.84sINFOros2_control_nodeconfigure successful[0m ×2 + 0.85sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.85sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.85sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.85sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.90sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.16sINFOros2-2process has finished cleanly [pid 8938] ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 2.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.04sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 4.53sWARNros2_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 + 4.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_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 + 5.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.52sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 5.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.54sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 5.54sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 264 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 + 7.13sINFOros2_control_nodeMuJoCo sim: 0.06% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.15sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.25sINFOobjective_server_nodeFound path in 0 iterations (4.64e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.27sINFOros2_control_node[2026-08-07 02:55:56.073] [info] Received new action goal ×2 + 7.27sINFOros2_control_node[2026-08-07 02:55:56.073] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 248 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOros2-5process has finished cleanly [pid 8941] ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_nztxb1lh --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yjq3jmv4 --params-file /tmp/launch_params_na659e6m [0m ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOforce_torque_sensor_broadcasterconfigure successful + 0.05sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.06sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.06sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.11sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786071348.91278243 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.37sINFOros2-2process has finished cleanly [pid 8938] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233221 ms (missed cycles : 5).[0m ×2 + 1.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786071349.97291946 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.20sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.25sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2). + 1.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259491 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786071350.59769750 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.86sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786071350.65788841 seconds ×3 + 2.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568008 ms (missed cycles : 4).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786071351.34031510 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.56sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786071351.36042786 seconds ×3 + 3.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786071351.95629644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786071352.10684347 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246258 ms (missed cycles : 2).[0m ×2 + 3.74sWARNros2_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 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786071352.77940989 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.00sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.00sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786071352.81957293 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904285 ms (missed cycles : 4).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786071353.41875029 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_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 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (2.8424e-05 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Received new action goal ×2 + 4.75sINFOros2_control_node[2026-08-07 02:55:53.555] [info] Accepted new action goal ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.466082 ms (missed cycles : 3).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471690 ms (missed cycles : 3).[0m ×2 | ||||