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 | 43.3s | 174 warnings · 297 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.73sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.39sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.48sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.86sINFOobjective_server_node[0;93m2026-08-07 03:36:03.019465469 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042715458 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042764910 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786073764.95595574 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786073765.68217206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Accepted new action goal ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325728 ms (missed cycles : 5). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325728 ms (missed cycles : 5).[0m ×2 + 7.81sINFOobjective_server_nodeFound path in 0 iterations (3.71e-07 s). ×2 + 7.82sINFOros2_control_node[2026-08-07 03:36:08.976] [info] Received new action goal ×2 + 7.82sINFOros2_control_node[2026-08-07 03:36:08.976] [info] Accepted new action goal ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259485 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259485 ms (missed cycles : 2).[0m ×2 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445425 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445425 ms (missed cycles : 2).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.869490 ms (missed cycles : 6). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.869490 ms (missed cycles : 6).[0m ×2 + 10.97sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.97sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 11.00sINFOros2_control_node[2026-08-07 03:36:12.158] [info] Received new action goal ×2 + 11.00sINFOros2_control_node[2026-08-07 03:36:12.158] [info] Accepted new action goal ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190879 ms (missed cycles : 4). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.190879 ms (missed cycles : 4).[0m ×2 + 12.01sWARNros2_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 + 12.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056775 ms (missed cycles : 2). + 12.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056775 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927055 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927055 ms (missed cycles : 3).[0m ×2 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.04sINFOros2_control_node[2026-08-07 03:36:15.194] [info] Received new action goal ×2 + 14.04sINFOros2_control_node[2026-08-07 03:36:15.194] [info] Accepted new action goal ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669566 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669566 ms (missed cycles : 2).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675186 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675186 ms (missed cycles : 2).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913036 ms (missed cycles : 2). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913036 ms (missed cycles : 2).[0m ×2 + 17.00sINFOobjective_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 + 17.00sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 17.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.00sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 17.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 17.00sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 17.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 17.00sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151478 ms (missed cycles : 7). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.151478 ms (missed cycles : 7).[0m ×2 + 18.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×6 + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322333 ms (missed cycles : 2). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322333 ms (missed cycles : 2).[0m ×2 + 20.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782809 ms (missed cycles : 2). + 20.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782809 ms (missed cycles : 2).[0m ×2 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858192 ms (missed cycles : 2). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858192 ms (missed cycles : 2).[0m ×2 + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023627 ms (missed cycles : 2). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.023627 ms (missed cycles : 2).[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089759 ms (missed cycles : 2). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089759 ms (missed cycles : 2).[0m ×2 + 24.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.58sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.59sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.59sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.59sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783449 ms (missed cycles : 2). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783449 ms (missed cycles : 2).[0m ×2 + 25.48sINFOros2_control_node[2026-08-07 03:36:26.636] [info] Received new action goal ×2 + 25.48sINFOros2_control_node[2026-08-07 03:36:26.636] [info] Accepted new action goal ×2 + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725436 ms (missed cycles : 2). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725436 ms (missed cycles : 2).[0m ×2 + 26.66sINFOobjective_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 + 26.67sINFOobjective_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 + 26.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086179 ms (missed cycles : 5). + 26.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.086179 ms (missed cycles : 5).[0m ×2 + 26.96sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 27.01sINFOros2_control_node[2026-08-07 03:36:28.169] [info] Received new action goal ×2 + 27.01sINFOros2_control_node[2026-08-07 03:36:28.169] [info] Accepted new action goal ×2 + 27.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459665 ms (missed cycles : 3). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459665 ms (missed cycles : 3).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691492 ms (missed cycles : 2). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.691492 ms (missed cycles : 2).[0m ×2 + 29.32sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 29.32sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 29.34sINFOros2_control_node[2026-08-07 03:36:30.499] [info] Received new action goal ×2 + 29.34sINFOros2_control_node[2026-08-07 03:36:30.499] [info] Accepted new action goal ×2 + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722245 ms (missed cycles : 4). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722245 ms (missed cycles : 4).[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153963 ms (missed cycles : 3). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153963 ms (missed cycles : 3).[0m ×2 + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550847 ms (missed cycles : 3). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550847 ms (missed cycles : 3).[0m ×2 + 32.37sINFOros2_control_node[2026-08-07 03:36:33.528] [info] Received new action goal ×2 + 32.37sINFOros2_control_node[2026-08-07 03:36:33.528] [info] Accepted new action goal ×2 + 33.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946064 ms (missed cycles : 2). + 33.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.946064 ms (missed cycles : 2).[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785178 ms (missed cycles : 2). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785178 ms (missed cycles : 2).[0m ×2 + 34.97sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 34.97sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 35.01sINFOros2_control_node[2026-08-07 03:36:36.173] [info] Received new action goal ×2 + 35.01sINFOros2_control_node[2026-08-07 03:36:36.173] [info] Accepted new action goal ×2 + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462709 ms (missed cycles : 6). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.462709 ms (missed cycles : 6).[0m ×2 + 35.76sWARNros2_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 + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941907 ms (missed cycles : 3). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941907 ms (missed cycles : 3).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054310 ms (missed cycles : 2). + 37.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054310 ms (missed cycles : 2).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354605 ms (missed cycles : 2). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354605 ms (missed cycles : 2).[0m ×2 + 39.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280746 ms (missed cycles : 2). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280746 ms (missed cycles : 2).[0m ×2 + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788564 ms (missed cycles : 2). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788564 ms (missed cycles : 2).[0m ×2 + 41.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.43 s); wrist_camera (1.43 s). The render path has stopped producing new frames for them.[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981327 ms (missed cycles : 2). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981327 ms (missed cycles : 2).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335150 ms (missed cycles : 3). + 42.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335150 ms (missed cycles : 3).[0m ×2 + 43.29sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094004 ms (missed cycles : 3). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094004 ms (missed cycles : 3).[0m ×2 + 44.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072136 ms (missed cycles : 3). + 44.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072136 ms (missed cycles : 3).[0m ×2 + 45.75sINFOros2_control_node[2026-08-07 03:36:46.908] [info] Received new action goal ×2 + 45.75sINFOros2_control_node[2026-08-07 03:36:46.908] [info] Accepted new action goal ×2 + 45.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567682 ms (missed cycles : 3). + 45.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567682 ms (missed cycles : 3).[0m ×2 + 46.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076975 ms (missed cycles : 6). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076975 ms (missed cycles : 6).[0m ×2 + 46.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786073808.06463552 seconds ×3 + 46.91sWARNros2_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 + 47.87sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786073809.03504372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967555 ms (missed cycles : 2). + 47.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967555 ms (missed cycles : 2).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518795 ms (missed cycles : 4). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518795 ms (missed cycles : 4).[0m ×2 + 49.05sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 49.06sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 49.07sINFOros2_control_node[2026-08-07 03:36:50.231] [info] Received new action goal ×2 + 49.07sINFOros2_control_node[2026-08-07 03:36:50.231] [info] Accepted new action goal ×2 + 50.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822495 ms (missed cycles : 2). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822495 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.3s | 3 errors · 128 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907142 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907142 ms (missed cycles : 6).[0m ×2 + 0.47sWARNros2_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 ×8 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933218 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421208 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421208 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791855 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791855 ms (missed cycles : 2).[0m ×2 + 3.27sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786073837.99049425 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786073838.65430236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 5 iterations (0.00642517 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.21sINFOros2_control_node[2026-08-07 03:37:18.930] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-07 03:37:18.930] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777295 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777295 ms (missed cycles : 6).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140473 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140473 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.257680 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.257680 ms (missed cycles : 5).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250672 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250672 ms (missed cycles : 2).[0m ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088074 ms (missed cycles : 4). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088074 ms (missed cycles : 4).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153124 ms (missed cycles : 4). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.153124 ms (missed cycles : 4).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159580 ms (missed cycles : 4). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.159580 ms (missed cycles : 4).[0m ×2 + 11.42sINFOobjective_server_node[2026-08-07 03:37:26.138] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706230 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706230 ms (missed cycles : 2).[0m ×2 + 12.35sINFOobjective_server_node[0;m[0;93m2026-08-07 03:37:27.073950860 [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 + 12.35sINFOobjective_server_node[0;93m2026-08-07 03:37:27.073982063 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.52sWARNros2_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 + 12.52sINFOobjective_server_node[2026-08-07 03:37:27.244] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544913 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544913 ms (missed cycles : 2).[0m ×2 + 13.03sINFOobjective_server_node[0;93m2026-08-07 03:37:27.750720837 [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 03:37:27.750755637 [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 03:37:27.870] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.20sINFOobjective_server_node[0;93m2026-08-07 03:37:27.923962892 [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 + 13.20sINFOobjective_server_node[0;93m2026-08-07 03:37:27.927096577 [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 + 13.20sINFOobjective_server_node[0;93m2026-08-07 03:37:27.927124974 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.22sINFOobjective_server_node[2026-08-07 03:37:27.946] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.62sINFOobjective_server_node[0;93m2026-08-07 03:37:28.338985270 [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 + 13.64sINFOobjective_server_node[0;93m2026-08-07 03:37:28.362710071 [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 + 13.64sINFOobjective_server_node[0;93m2026-08-07 03:37:28.362756548 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525819 ms (missed cycles : 4). + 13.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.525819 ms (missed cycles : 4).[0m ×2 + 14.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645364 ms (missed cycles : 2). + 14.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645364 ms (missed cycles : 2).[0m ×2 + 15.64sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686159 ms (missed cycles : 3). + 15.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686159 ms (missed cycles : 3).[0m ×2 + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853338 ms (missed cycles : 2). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853338 ms (missed cycles : 2).[0m ×2 + 17.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913559 ms (missed cycles : 3). + 17.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913559 ms (missed cycles : 3).[0m ×2 + 19.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399930 ms (missed cycles : 4). + 19.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.399930 ms (missed cycles : 4).[0m ×2 + 19.55sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 19.90sINFOobjective_server_nodeFound path in 4 iterations (0.00324473 s). ×2 + 19.98sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.02sINFOobjective_server_nodeFound path in 12 iterations (0.00689638 s). ×2 + 20.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.12sINFOobjective_server_nodeFound path in 2 iterations (0.00408339 s). ×2 + 20.17sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 20.19sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 20.22sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.24sINFOobjective_server_nodeFound path in 0 iterations (2.58e-07 s). ×2 + 20.28sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.30sINFOobjective_server_nodeFound path in 12 iterations (0.00569949 s). ×2 + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950912 ms (missed cycles : 2). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950912 ms (missed cycles : 2).[0m ×2 + 20.38sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 20.40sINFOobjective_server_nodeFound path in 1 iterations (0.00401713 s). ×2 + 20.45sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 20.48sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). ×2 + 20.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 20.54sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 20.58sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.61sINFOobjective_server_nodeFound path in 4 iterations (0.00788471 s). ×2 + 20.70sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 20.74sINFOobjective_server_nodeFound path in 4 iterations (0.00500534 s). ×2 + 20.87sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 20.91sINFOobjective_server_nodeFound path in 1 iterations (0.0081411 s). ×2 + 21.00sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 21.04sINFOobjective_server_nodeFound path in 1 iterations (0.00318108 s). ×2 + 21.13sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 21.15sINFOobjective_server_nodeFound path in 0 iterations (4.91e-07 s). ×2 + 21.20sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.22sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 21.31sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 21.34sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 21.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187375 ms (missed cycles : 2). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187375 ms (missed cycles : 2).[0m ×2 + 21.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 21.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.74sINFOros2_control_node[2026-08-07 03:37:36.463] [info] Received new action goal ×2 + 21.74sINFOros2_control_node[2026-08-07 03:37:36.463] [info] Accepted new action goal ×2 + 22.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777871 ms (missed cycles : 2). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777871 ms (missed cycles : 2).[0m ×2 + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656509 ms (missed cycles : 4). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656509 ms (missed cycles : 4).[0m ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438461 ms (missed cycles : 4). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.438461 ms (missed cycles : 4).[0m ×2 + 25.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730678 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730678 ms (missed cycles : 2).[0m ×2 + 26.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605372 ms (missed cycles : 2). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605372 ms (missed cycles : 2).[0m ×2 + 27.87sINFOros2_control_node[2026-08-07 03:37:42.597] [info] Received new action goal ×2 + 27.87sINFOros2_control_node[2026-08-07 03:37:42.597] [info] Accepted new action goal ×2 + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723333 ms (missed cycles : 2). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723333 ms (missed cycles : 2).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775146 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775146 ms (missed cycles : 2).[0m ×2 + 29.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 29.28sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 29.30sINFOros2_control_node[2026-08-07 03:37:44.019] [info] Received new action goal ×2 + 29.30sINFOros2_control_node[2026-08-07 03:37:44.019] [info] Accepted new action goal ×2 + 29.73sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 29.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846061 ms (missed cycles : 5). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.846061 ms (missed cycles : 5).[0m ×2 + 30.35sWARNobjective_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 + 30.35sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.38sWARNros2_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 + 30.39sINFOros2_control_node[2026-08-07 03:37:45.109] [info] Received new action goal ×2 + 30.39sINFOros2_control_node[2026-08-07 03:37:45.109] [info] Accepted new action goal ×2 + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5).[0m ×2 + 32.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2). + 32.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2).[0m ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7).[0m ×2 + 34.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5). + 34.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5).[0m ×2 + 34.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786073869.34451795 seconds ×3 + 34.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 34.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786073870.11800075 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 1.780999 ms (missed cycles : 2). + 35.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780999 ms (missed cycles : 2).[0m ×2 + 35.62sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 35.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 35.63sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Received new action goal ×2 + 35.63sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Accepted new action goal ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2).[0m ×2 + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.1s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 ×6 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2).[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.248657 ms (missed cycles : 8). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.248657 ms (missed cycles : 8).[0m ×2 + 8.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451841 ms (missed cycles : 4). + 8.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451841 ms (missed cycles : 4).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246868 ms (missed cycles : 4). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.246868 ms (missed cycles : 4).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059486 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059486 ms (missed cycles : 4).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.331633 ms (missed cycles : 8). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.331633 ms (missed cycles : 8).[0m ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110921 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110921 ms (missed cycles : 2).[0m ×2 + 13.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.23sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.24sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.53sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). ×2 + 13.53sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.54sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 13.56sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 13.60sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.62sINFOobjective_server_nodeFound path in 1 iterations (0.00307367 s). ×2 + 13.72sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.80sINFOros2_control_node[2026-08-07 03:35:03.551] [info] Received new action goal ×2 + 13.80sINFOros2_control_node[2026-08-07 03:35:03.551] [info] Accepted new action goal ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777097 ms (missed cycles : 5). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.777097 ms (missed cycles : 5).[0m ×2 + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326648 ms (missed cycles : 4). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.326648 ms (missed cycles : 4).[0m ×2 + 16.18sWARNros2_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 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224538 ms (missed cycles : 4). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224538 ms (missed cycles : 4).[0m ×2 + 16.27sINFOros2_control_node[2026-08-07 03:35:06.023] [info] Received new action goal ×2 + 16.27sINFOros2_control_node[2026-08-07 03:35:06.023] [info] Accepted new action goal ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5).[0m ×2 + 18.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 18.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 18.19sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Received new action goal ×2 + 18.19sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Accepted new action goal ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7).[0m ×2 + 19.57sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786073709.32229781 seconds ×3 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6).[0m ×2 + 20.21sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786073709.95966363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.30sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786073710.04979014 seconds ×3 + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3).[0m ×2 + 20.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786073710.69215465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.05sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 21.05sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.07sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Received new action goal ×2 + 21.07sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Accepted new action goal ×2 + 21.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6). + 21.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 63 warnings · 186 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.36e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074025 ms (missed cycles : 5). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074025 ms (missed cycles : 5).[0m ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00507651 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.37sINFOros2_control_node[2026-08-07 03:35:40.147] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-08-07 03:35:40.147] [info] Accepted new action goal ×2 + 0.81sINFOros2_control_node[2026-08-07 03:35:40.579] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-08-07 03:35:40.579] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526781 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526781 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920046 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920046 ms (missed cycles : 3).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNros2_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981981 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981981 ms (missed cycles : 3).[0m ×2 + 3.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 3.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.27sINFOros2_control_node[2026-08-07 03:35:43.041] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-08-07 03:35:43.041] [info] Accepted new action goal ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-07 03:35:43.077] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-07 03:35:43.077] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1786073743.08262539 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786073743.74279690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.17sINFOros2_control_node[2026-08-07 03:35:43.937] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-07 03:35:43.937] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928859 ms (missed cycles : 3).[0m ×2 + 4.68sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699371 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699371 ms (missed cycles : 5).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3).[0m ×2 + 6.70sINFOros2_control_node[2026-08-07 03:35:46.468] [info] Received new action goal ×2 + 6.70sINFOros2_control_node[2026-08-07 03:35:46.468] [info] Accepted new action goal ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914888 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914888 ms (missed cycles : 3).[0m ×2 + 8.45sWARNros2_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 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.910018 ms (missed cycles : 4). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.910018 ms (missed cycles : 4).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309293 ms (missed cycles : 2). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309293 ms (missed cycles : 2).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982052 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982052 ms (missed cycles : 3).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117059 ms (missed cycles : 2). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117059 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371272 ms (missed cycles : 5). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371272 ms (missed cycles : 5).[0m ×2 + 13.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2).[0m ×2 + 15.18sWARNros2_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 + 15.27sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786073755.03980231 seconds ×3 + 15.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3).[0m ×2 + 15.93sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786073755.70653248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786073755.77669573 seconds ×3 + 16.61sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786073756.38333774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.72sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 16.72sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.73sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Received new action goal ×2 + 16.73sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Accepted new action goal ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2).[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 11.9s | 24 errors · 68 warnings · 257 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.02sINFOobjective_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 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073823.63653851 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×3 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×6 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073824.26823354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_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 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.06sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.07sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Accepted new action goal ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7).[0m ×2 + 3.37sINFOobjective_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 + 3.39sINFOobjective_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 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073826.07700467 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786073826.72081065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.47sINFOros2_control_node[2026-08-07 03:37:06.875] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 03:37:06.875] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.452745 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.452745 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371896 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371896 ms (missed cycles : 5).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327505 ms (missed cycles : 5). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.327505 ms (missed cycles : 5).[0m ×2 + 7.70sWARNros2_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 + 8.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 8.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 8.02sINFOros2_control_node[2026-08-07 03:37:10.421] [info] Received new action goal ×2 + 8.02sINFOros2_control_node[2026-08-07 03:37:10.421] [info] Accepted new action goal ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641003 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.641003 ms (missed cycles : 2).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935781 ms (missed cycles : 6). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.935781 ms (missed cycles : 6).[0m ×2 + 9.89sINFOros2_control_node[2026-08-07 03:37:12.298] [info] Received new action goal ×2 + 9.89sINFOros2_control_node[2026-08-07 03:37:12.298] [info] Accepted new action goal ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307362 ms (missed cycles : 2). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307362 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744384 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744384 ms (missed cycles : 2).[0m ×2 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907142 ms (missed cycles : 6). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907142 ms (missed cycles : 6).[0m ×2 + 12.79sWARNros2_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 ×4 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933218 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933218 ms (missed cycles : 3).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421208 ms (missed cycles : 3). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421208 ms (missed cycles : 3).[0m ×2 + 15.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791855 ms (missed cycles : 2). + 15.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791855 ms (missed cycles : 2).[0m ×2 + 15.58sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786073837.99049425 seconds ×3 + 16.25sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786073838.65430236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 16.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 16.44sINFOobjective_server_nodeFound path in 5 iterations (0.00642517 s). ×2 + 16.50sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 16.52sINFOros2_control_node[2026-08-07 03:37:18.930] [info] Received new action goal ×2 + 16.53sINFOros2_control_node[2026-08-07 03:37:18.930] [info] Accepted new action goal ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777295 ms (missed cycles : 6). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777295 ms (missed cycles : 6).[0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140473 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140473 ms (missed cycles : 2).[0m ×2 + 18.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.257680 ms (missed cycles : 5). + 18.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.257680 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 9 errors · 60 warnings · 199 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094004 ms (missed cycles : 3). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094004 ms (missed cycles : 3).[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072136 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072136 ms (missed cycles : 3).[0m ×2 + 1.50sINFOobjective_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 + 1.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.50sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.51sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.51sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.51sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 03:36:46.908] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 03:36:46.908] [info] Accepted new action goal ×2 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567682 ms (missed cycles : 3). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567682 ms (missed cycles : 3).[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076975 ms (missed cycles : 6). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076975 ms (missed cycles : 6).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786073808.06463552 seconds ×3 + 3.61sWARNros2_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 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.58sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786073809.03504372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967555 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967555 ms (missed cycles : 2).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518795 ms (missed cycles : 4). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518795 ms (missed cycles : 4).[0m ×2 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.75sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.78sINFOros2_control_node[2026-08-07 03:36:50.231] [info] Received new action goal ×2 + 5.78sINFOros2_control_node[2026-08-07 03:36:50.231] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822495 ms (missed cycles : 2). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822495 ms (missed cycles : 2).[0m ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.600446 ms (missed cycles : 5). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.600446 ms (missed cycles : 5).[0m ×2 + 8.72sWARNros2_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 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739749 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739749 ms (missed cycles : 2).[0m ×2 + 9.47sINFOobjective_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 + 9.47sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.48sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.48sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.48sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.48sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.48sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.48sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675406 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675406 ms (missed cycles : 2).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775910 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.775910 ms (missed cycles : 2).[0m ×2 + 11.86sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 11.87sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.89sINFOros2_control_node[2026-08-07 03:36:56.340] [info] Received new action goal ×2 + 11.89sINFOros2_control_node[2026-08-07 03:36:56.340] [info] Accepted new action goal ×2 + 12.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893732 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893732 ms (missed cycles : 3).[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430613 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430613 ms (missed cycles : 3).[0m ×2 + 13.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 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 5.482020 ms (missed cycles : 4). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482020 ms (missed cycles : 4).[0m ×2 + 15.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2). + 15.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2).[0m ×2 + 15.49sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786073819.94520402 seconds ×3 + 16.10sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073820.55332756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.26sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 16.26sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.27sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Received new action goal ×2 + 16.28sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Accepted new action goal ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2).[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3). + 17.55sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3).[0m ×2 + 17.56sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.95sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 17.97sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 59 errors · 42 warnings · 317 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4).[0m ×2 + 1.07sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.59sINFOobjective_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 + 1.60sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Got request to cancel active goal. ×2 + 1.60sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1786073924.98943686 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786073925.63668156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786073926.24681449 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786073926.84969926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.47sINFOobjective_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 + 3.47sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786073926.85163903 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 4.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786073927.46490693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786073927.46564126 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786073928.06414390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786073929.36808372 seconds ×3 + 6.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310145 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310145 ms (missed cycles : 2).[0m ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971441 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.971441 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.991031 ms (missed cycles : 6). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.991031 ms (missed cycles : 6).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.061630 ms (missed cycles : 5). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.061630 ms (missed cycles : 5).[0m ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512089 ms (missed cycles : 5). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.512089 ms (missed cycles : 5).[0m ×2 + 11.36sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.41sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORweb_video_auth_proxy-23process has died [pid 9056, 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 + 11.41sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.43sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.44sERRORweb_bridge_auth_proxy-22process has died [pid 9055, 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 + 11.44sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.45sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.46sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.47sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.48sINFOvideo_server-21process has finished cleanly [pid 9054] ×2 + 11.48sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.50sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.51sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.52sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.54sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.55sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.57sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.58sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.60sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.60sINFOcontroller_managerShutdown request received.... + 11.60sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.60sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.60sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.60sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.60sINFOvideo_server2026/08/07 03:38:54 INF shutting down gracefully ×2 + 11.60sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.60sINFOvideo_server2026/08/07 03:38:54 INF [WebRTC] closing ×2 + 11.60sINFOvideo_server2026/08/07 03:38:54 INF [RTSP] closing ×2 + 11.60sINFOvideo_server2026/08/07 03:38:54 INF waiting for running hooks ×2 + 11.60sINFOcontroller_managerShutting down the controller manager. + 11.60sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.60sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.60sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.60sERRORmove_groupStack trace (most recent call last) in thread 9280: ×2 + 11.61sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.61sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c4cb75a63, in __clone ×2 + 11.61sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c4cae8aa3, in ×2 + 11.61sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c4cd7adb3, in ×2 + 11.61sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7c4d4e6ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.61sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7c4d10c620, in rclcpp::Rate::sleep() ×2 + 11.61sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7c4d04ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.61sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7c4d010087, in ×2 + 11.61sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c4cd49390, in __cxa_throw ×2 + 11.61sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c4cd33a54, in std::terminate() ×2 + 11.61sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c4cd490d9, in ×2 + 11.61sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7c4cd33ff4, in ×2 + 11.61sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c4ca748fe, in abort ×2 + 11.61sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c4ca9127d, in raise ×2 + 11.61sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7c4caeab2c, in pthread_kill ×2 + 11.61sERRORmove_groupAborted (Signal sent by tkill() 8961 0) ×2 + 11.61sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.61sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.61sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.61sERRORmove_group-9process has died [pid 8961, 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_nape32ue --params-file /tmp/launch_params__hr463gy --params-file /tmp/launch_params_6d4jvmf0 --params-file /tmp/launch_params_v5ogau2f --params-file /tmp/launch_params_ae1g36jd --params-file /tmp/launch_params_8g6vm33a']. ×2 + 11.61sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.61sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.61sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.61sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.61sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.61sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.61sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.61sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.81sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.81sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.81sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.49sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9053] ×2 + 12.49sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.58sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8983] ×2 + 12.58sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8967] ×2 + 12.60sINFOcomponent_container_mt-16process has finished cleanly [pid 8986] ×2 + 12.60sINFOexecute_objective_bridge-17process has finished cleanly [pid 8987] ×2 + 12.61sINFOui_teleop_bridge-18process has finished cleanly [pid 8988] ×2 + 12.63sINFOwaypoint_manager_node-11process has finished cleanly [pid 8963] ×2 + 12.63sINFOparameter_manager_node-10process has finished cleanly [pid 8962] ×2 + 12.66sINFOobjective_server_node[0;m[2026-08-07 03:38:56.048] [moveit_pro_license] [info] ×2 + 12.67sINFOobjective_server_node************************************************* ×4 + 12.67sINFOobjective_server_node* MoveIt Pro License ×2 + 12.67sINFOobjective_server_node* Application has successfully terminated ×2 + 12.71sINFOcomponent_container_mt-15process has finished cleanly [pid 8985] ×2 + 13.20sINFOobjective_server_node_main-14process has finished cleanly [pid 8984] ×2 + 13.20sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.69sINFOweb_bridge-19process has finished cleanly [pid 8989] ×2 + 13.69sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.25sINFOros2_control_node-1process has finished cleanly [pid 8942] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 63 warnings · 175 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484268 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484268 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430719 ms (missed cycles : 8). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430719 ms (missed cycles : 8).[0m ×2 + 1.22sWARNros2_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 + 1.71sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.98sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.98sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.98sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 2.01sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786073730.82928634 seconds ×3 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889990 ms (missed cycles : 7). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889990 ms (missed cycles : 7).[0m ×2 + 3.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772606 ms (missed cycles : 5). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772606 ms (missed cycles : 5).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786073732.59770656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.97sINFOros2_control_node[2026-08-07 03:35:32.792] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-08-07 03:35:32.792] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257418 ms (missed cycles : 5). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257418 ms (missed cycles : 5).[0m ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726722 ms (missed cycles : 3). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726722 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.476228 ms (missed cycles : 8). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.476228 ms (missed cycles : 8).[0m ×2 + 7.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.27sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.27sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 7.56sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.56sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 7.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.62sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 7.66sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.68sINFOobjective_server_nodeFound path in 1 iterations (0.0036684 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065524 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.065524 ms (missed cycles : 2).[0m ×2 + 7.81sINFOobjective_server_nodeFound path in 1 iterations (0.00742331 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.91sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.25sINFOros2_control_node[2026-08-07 03:35:37.075] [info] Received new action goal ×2 + 8.25sINFOros2_control_node[2026-08-07 03:35:37.075] [info] Accepted new action goal ×2 + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638177 ms (missed cycles : 4). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638177 ms (missed cycles : 4).[0m ×2 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411968 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411968 ms (missed cycles : 2).[0m ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (6.36e-07 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 10.96sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 10.96sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 10.98sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074025 ms (missed cycles : 5). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074025 ms (missed cycles : 5).[0m ×2 + 11.05sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.09sINFOobjective_server_nodeFound path in 1 iterations (0.00507651 s). ×2 + 11.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.32sINFOros2_control_node[2026-08-07 03:35:40.147] [info] Received new action goal ×2 + 11.32sINFOros2_control_node[2026-08-07 03:35:40.147] [info] Accepted new action goal ×2 + 11.76sINFOros2_control_node[2026-08-07 03:35:40.579] [info] Received new action goal ×2 + 11.76sINFOros2_control_node[2026-08-07 03:35:40.579] [info] Accepted new action goal ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526781 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526781 ms (missed cycles : 2).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920046 ms (missed cycles : 3). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920046 ms (missed cycles : 3).[0m ×2 + 13.29sWARNros2_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 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981981 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981981 ms (missed cycles : 3).[0m ×2 + 14.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 14.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.22sINFOros2_control_node[2026-08-07 03:35:43.041] [info] Received new action goal ×2 + 14.22sINFOros2_control_node[2026-08-07 03:35:43.041] [info] Accepted new action goal ×2 + 14.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.25sINFOros2_control_node[2026-08-07 03:35:43.077] [info] Got request to cancel active goal. ×2 + 14.26sINFOros2_control_node[2026-08-07 03:35:43.077] [info] Canceling active goal... ×2 + 14.26sERRORobjective_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: 1786073743.08262539 seconds ×3 + 14.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786073743.74279690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.11sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 15.11sINFOros2_control_node[2026-08-07 03:35:43.937] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-08-07 03:35:43.937] [info] Accepted new action goal ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928859 ms (missed cycles : 3). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928859 ms (missed cycles : 3).[0m ×2 + 15.63sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699371 ms (missed cycles : 5). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699371 ms (missed cycles : 5).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.1s | 3 errors · 63 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7).[0m ×2 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786073869.34451795 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786073870.11800075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780999 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780999 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.41sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Accepted new action goal ×2 + 5.24sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306489 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306489 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400305 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400305 ms (missed cycles : 3).[0m ×2 + 8.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.60sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.60sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.88sINFOobjective_server_nodeFound path in 0 iterations (4.78e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 8.95sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.98sINFOobjective_server_nodeFound path in 1 iterations (0.00320146 s). ×2 + 9.07sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.12sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.15sINFOros2_control_node[2026-08-07 03:37:55.095] [info] Received new action goal ×2 + 9.15sINFOros2_control_node[2026-08-07 03:37:55.095] [info] Accepted new action goal ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040353 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.040353 ms (missed cycles : 2).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 11.09sWARNros2_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 + 11.62sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 11.62sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 12.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 13.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.54sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 13.54sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 13.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 13.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×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 + 14.53sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 14.53sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 14.55sERRORobjective_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: 1786073880.49306130 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 15.22sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 15.40sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.41sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 16.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 17.32sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308564 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308564 ms (missed cycles : 2).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849551 ms (missed cycles : 6). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849551 ms (missed cycles : 6).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406051 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406051 ms (missed cycles : 5).[0m ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739043 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739043 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786073902.01280928 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786073902.62714672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.67sINFOros2_control_node[2026-08-07 03:38:22.761] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-07 03:38:22.761] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584906 ms (missed cycles : 4). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584906 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017961 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017961 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_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 + 6.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137951 ms (missed cycles : 6). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.137951 ms (missed cycles : 6).[0m ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186255 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186255 ms (missed cycles : 2).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911003 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911003 ms (missed cycles : 2).[0m ×2 + 10.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149886 ms (missed cycles : 2). + 10.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149886 ms (missed cycles : 2).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4).[0m ×2 + 12.09sWARNros2_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 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 14.87sINFOobjective_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 + 14.88sERRORobjective_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: 1786073912.97752404 seconds ×3 + 15.51sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.56sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.56sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 16.19sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.21sINFOobjective_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 + 16.21sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 16.81sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.95sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 16.95sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.96sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 16.96sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 65 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828836 ms (missed cycles : 4). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828836 ms (missed cycles : 4).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128973 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128973 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688990 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688990 ms (missed cycles : 2).[0m ×2 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116983 ms (missed cycles : 2). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116983 ms (missed cycles : 2).[0m ×2 + 10.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822541 ms (missed cycles : 4). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822541 ms (missed cycles : 4).[0m ×2 + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266087 ms (missed cycles : 3). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266087 ms (missed cycles : 3).[0m ×2 + 13.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192471 ms (missed cycles : 4). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192471 ms (missed cycles : 4).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077958 ms (missed cycles : 2). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077958 ms (missed cycles : 2).[0m ×2 + 14.94sERRORobjective_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: 1786073891.47979116 seconds ×3 + 15.54sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786073892.08009052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133409 ms (missed cycles : 5). + 15.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133409 ms (missed cycles : 5).[0m ×2 + 15.83sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 15.85sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.86sINFOros2_control_node[2026-08-07 03:38:12.405] [info] Received new action goal ×2 + 15.86sINFOros2_control_node[2026-08-07 03:38:12.405] [info] Accepted new action goal ×2 + 16.54sWARNros2_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 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996952 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996952 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046463 ms (missed cycles : 3). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046463 ms (missed cycles : 3).[0m ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030367 ms (missed cycles : 2). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030367 ms (missed cycles : 2).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761839 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761839 ms (missed cycles : 2).[0m ×2 + 9.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.20sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.20sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 9.48sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (2.26e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.56sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). ×2 + 9.59sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 9.62sINFOobjective_server_nodeFound path in 1 iterations (0.00265509 s). ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.75sINFOobjective_server_nodeFound path in 1 iterations (0.00699968 s). ×2 + 9.84sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.455787 ms (missed cycles : 6). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.455787 ms (missed cycles : 6).[0m ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.99sINFOobjective_server_nodeFound path in 0 iterations (5.79e-07 s). ×2 + 10.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 10.23sINFOros2_control_node[2026-08-07 03:35:28.105] [info] Received new action goal ×2 + 10.23sINFOros2_control_node[2026-08-07 03:35:28.105] [info] Accepted new action goal ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484268 ms (missed cycles : 3). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484268 ms (missed cycles : 3).[0m ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430719 ms (missed cycles : 8). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.430719 ms (missed cycles : 8).[0m ×2 + 12.17sWARNros2_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 + 12.65sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.93sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.93sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.93sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786073730.82928634 seconds ×3 + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889990 ms (missed cycles : 7). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.889990 ms (missed cycles : 7).[0m ×2 + 14.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772606 ms (missed cycles : 5). + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.772606 ms (missed cycles : 5).[0m ×2 + 14.72sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786073732.59770656 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 14.92sINFOros2_control_node[2026-08-07 03:35:32.792] [info] Received new action goal ×2 + 14.92sINFOros2_control_node[2026-08-07 03:35:32.792] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257418 ms (missed cycles : 5). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.257418 ms (missed cycles : 5).[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726722 ms (missed cycles : 3). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.726722 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 57 warnings · 165 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5).[0m ×2 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786073709.32229781 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786073709.95966363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786073710.04979014 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786073710.69215465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 ×4 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945976 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945976 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.16sINFOros2_control_node[2026-08-07 03:35:14.186] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-08-07 03:35:14.186] [info] Accepted new action goal ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792335 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792335 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952792 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952792 ms (missed cycles : 2).[0m ×2 + 9.50sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.51sINFOros2_control_node[2026-08-07 03:35:16.534] [info] Received new action goal ×2 + 9.51sINFOros2_control_node[2026-08-07 03:35:16.534] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757686 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.757686 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 10.89sWARNros2_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 + 11.85sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 11.86sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 11.86sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 13.95sINFOobjective_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 + 13.95sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 13.95sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 13.96sERRORobjective_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: 1786073720.98485422 seconds ×3 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 14.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 14.60sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.79sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 14.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.80sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 14.80sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 15.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 0.78sWARNros2_control_nodeCamera render tick took 1.87 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 0.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.81sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 1.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.47sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.18sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 2.90sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.28sWARNros2_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 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.73sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.73sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.35sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 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 ×3 + 4.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.36sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.49sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 + 6.62sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479317 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479317 ms (missed cycles : 2).[0m ×2 + 6.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.99sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). ×2 + 6.99sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 7.00sINFOros2_control_node[2026-08-07 03:34:44.833] [info] Received new action goal ×2 + 7.00sINFOros2_control_node[2026-08-07 03:34:44.833] [info] Accepted new action goal ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531165 ms (missed cycles : 4). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531165 ms (missed cycles : 4).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927591 ms (missed cycles : 3). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927591 ms (missed cycles : 3).[0m ×2 + 9.42sWARNros2_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 ×4 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269072 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269072 ms (missed cycles : 2).[0m ×2 + 10.67sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 10.69sINFOros2_control_node[2026-08-07 03:34:48.523] [info] Received new action goal ×2 + 10.69sINFOros2_control_node[2026-08-07 03:34:48.523] [info] Accepted new action goal ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782315 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782315 ms (missed cycles : 3).[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 14.00sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 14.01sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.03sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 14.03sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 14.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 14.64sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 14.65sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 14.66sERRORobjective_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: 1786073692.49612117 seconds ×3 + 14.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.69sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.42sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 16.05sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2). + 16.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 16.24sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 16.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.25sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 16.25sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 17.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 17.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 60 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.31sERRORobjective_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: 1786073912.97752404 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.64sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.39sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2).[0m ×2 + 6.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358493 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358493 ms (missed cycles : 2).[0m ×2 + 7.69sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.70sINFOros2_control_node[2026-08-07 03:38:38.368] [info] Received new action goal ×2 + 7.70sINFOros2_control_node[2026-08-07 03:38:38.368] [info] Accepted new action goal ×2 + 7.70sINFOros2_control_node[2026-08-07 03:38:38.368] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664065 ms (missed cycles : 2). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.664065 ms (missed cycles : 2).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322013 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322013 ms (missed cycles : 2).[0m ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5).[0m ×2 + 11.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4).[0m ×2 + 13.79sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.31sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Got request to cancel active goal. ×2 + 14.31sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Canceling active goal... ×2 + 14.32sERRORobjective_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: 1786073924.98943686 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786073925.63668156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786073926.24681449 seconds ×3 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2).[0m ×2 + 16.18sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786073926.84969926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.18sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.18sINFOobjective_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 + 16.18sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.18sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786073926.85163903 seconds ×3 + 16.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786073927.46490693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786073927.46564126 seconds ×3 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822541 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822541 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266087 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266087 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192471 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192471 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077958 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077958 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073891.47979116 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.98sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786073892.08009052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133409 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133409 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.30sINFOros2_control_node[2026-08-07 03:38:12.405] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 03:38:12.405] [info] Accepted new action goal ×2 + 4.98sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996952 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996952 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888484 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888484 ms (missed cycles : 3).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728338 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728338 ms (missed cycles : 2).[0m ×2 + 8.32sINFOros2_control_node[2026-08-07 03:38:16.426] [info] Received new action goal ×2 + 8.32sINFOros2_control_node[2026-08-07 03:38:16.426] [info] Accepted new action goal ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026313 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026313 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491584 ms (missed cycles : 5). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.491584 ms (missed cycles : 5).[0m ×2 + 9.99sWARNros2_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 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308564 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308564 ms (missed cycles : 2).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849551 ms (missed cycles : 6). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849551 ms (missed cycles : 6).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406051 ms (missed cycles : 5). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406051 ms (missed cycles : 5).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739043 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739043 ms (missed cycles : 2).[0m ×2 + 13.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786073902.01280928 seconds ×3 + 14.52sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786073902.62714672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.66sINFOros2_control_node[2026-08-07 03:38:22.761] [info] Received new action goal ×2 + 14.66sINFOros2_control_node[2026-08-07 03:38:22.761] [info] Accepted new action goal ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584906 ms (missed cycles : 4). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584906 ms (missed cycles : 4).[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017961 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017961 ms (missed cycles : 2).[0m ×2 + 16.02sWARNros2_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 + 16.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.4s | 37 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786073755.70653248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786073755.77669573 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786073756.38333774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786073758.50348163 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848534 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848534 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649943 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649943 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786073760.10735297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_node[2026-08-07 03:36:00.830] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 5.48sWARNros2_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 + 5.97sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 5.97sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.18sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 6.69sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.84sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.90sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [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 + 6.90sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.90sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.93sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.31sINFOobjective_server_node[0;93m2026-08-07 03:36:03.019465469 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 7.34sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042715458 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.34sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042764910 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2).[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6).[0m ×2 + 9.25sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786073764.95595574 seconds ×3 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3).[0m ×2 + 9.98sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786073765.68217206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 10.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 10.07sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 10.35sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 10.36sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 10.40sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Received new action goal ×2 + 10.40sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Accepted new action goal ×2 + 10.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5).[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 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 7.371272 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371272 ms (missed cycles : 5).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2).[0m ×2 + 2.54sWARNros2_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 + 2.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786073755.03980231 seconds ×3 + 2.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.63sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.63sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.64sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786073755.70653248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786073755.77669573 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786073756.38333774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.08sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786073758.50348163 seconds ×3 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848534 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848534 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649943 ms (missed cycles : 6). + 7.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649943 ms (missed cycles : 6).[0m ×2 + 7.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786073760.10735297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.42sINFOobjective_server_node[2026-08-07 03:36:00.830] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 8.77sWARNros2_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 + 9.26sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.26sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.47sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 9.98sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 9.98sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.13sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.19sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [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 + 10.19sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [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 + 10.19sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [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 03:36:02.635] [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 · 224 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 ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 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 ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-07 03:36:56.340] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-07 03:36:56.340] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893732 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893732 ms (missed cycles : 3).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430613 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430613 ms (missed cycles : 3).[0m ×2 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482020 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482020 ms (missed cycles : 4).[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786073819.94520402 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073820.55332756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.51sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3). + 5.78sINFOobjective_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 + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.19sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5). + 6.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5).[0m ×2 + 7.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073823.63653851 seconds ×3 + 7.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 7.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2).[0m ×2 + 8.05sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073824.26823354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.10sINFOobjective_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 + 8.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 8.26sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Received new action goal ×2 + 8.26sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Accepted new action goal ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7).[0m ×2 + 9.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073826.07700467 seconds ×3 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.4s | 21 errors · 29 warnings · 227 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2).[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786073819.94520402 seconds ×3 + 0.13sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.13sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073820.55332756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.89sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 0.89sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.91sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Accepted new action goal ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3). + 2.18sINFOobjective_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 + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.58sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.60sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073823.63653851 seconds ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073824.26823354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 4.65sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Received new action goal ×2 + 4.65sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Accepted new action goal ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7).[0m ×2 + 6.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073826.07700467 seconds ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786073826.72081065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 7.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 7.05sINFOros2_control_node[2026-08-07 03:37:06.875] [info] Received new action goal ×2 + 7.05sINFOros2_control_node[2026-08-07 03:37:06.875] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.452745 ms (missed cycles : 6). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.452745 ms (missed cycles : 6).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371896 ms (missed cycles : 5). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371896 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 32 warnings · 531 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.26sINFOobjective_server_node[2026-08-07 03:34:33.845] [moveit_pro_license] [info] ×2 + 0.26sINFOobjective_server_node************************************************* ×4 + 0.26sINFOobjective_server_node* MoveIt Pro License ×2 + 0.26sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.37sINFOobjective_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 + 0.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.51sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.51sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.62sINFOcomponent_container_mt[2026-08-07 03:34:34.200] [moveit_pro_license] [info] ×2 + 0.62sINFOcomponent_container_mt************************************************* ×4 + 0.62sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.62sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×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'. + 0.84sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.85sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.85sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.88sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.88sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.89sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.89sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.90sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.90sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.90sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.90sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351796 ms (missed cycles : 4). + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351796 ms (missed cycles : 4).[0m ×2 + 0.92sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.92sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.15sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.21sINFOcontroller_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 + 1.22sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.22sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.26sINFOros2-3process has finished cleanly [pid 8944] ×2 + 1.30sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.30sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.30sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.30sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.30sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.30sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.31sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.31sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.33sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.33sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.33sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.33sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.33sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.33sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.34sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.34sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.36sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.63sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.63sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.63sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.63sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.67sINFOros2-5process has finished cleanly [pid 8946] ×2 + 1.74sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.74sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.81sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.81sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.85sINFOros2_control_node[2026-08-07 03:34:35.435] [info] Controller state will be published at 10 Hz. ×2 + 1.85sINFOros2_control_node[2026-08-07 03:34:35.437] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3). + 2.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3).[0m ×2 + 2.19sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.19sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.19sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 2.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 2.24sINFOros2-7process has finished cleanly [pid 8948] ×2 + 2.25sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.25sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.25sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.25sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.25sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.25sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.26sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.26sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.26sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.26sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.57sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.63sINFOros2-4process has finished cleanly [pid 8945] ×2 + 2.63sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.63sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.63sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.63sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.70sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 2.70sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.75sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 2.75sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.75sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.75sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.77sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.77sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 2.78sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 3.04sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.11sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.11sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.11sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.11sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.14sINFOros2-6process has finished cleanly [pid 8947] ×2 + 3.19sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 3.19sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 3.23sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.26sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 3.26sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 3.61sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 3.61sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 3.61sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 3.61sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 3.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 3.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 3.63sINFOros2-8process has finished cleanly [pid 8949] ×2 + 3.66sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 3.66sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.66sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 3.67sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 3.67sINFOforce_torque_sensor_broadcasterconfigure successful + 3.67sINFOros2_control_nodeconfigure successful[0m ×2 + 3.67sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 3.67sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 3.68sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 3.68sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.01sINFOros2-2process has finished cleanly [pid 8943] ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 5.03sWARNros2_control_nodeCamera render tick took 1.87 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 + 5.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 5.64sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 6.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 7.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 7.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 7.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 3 errors · 31 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4).[0m ×2 + 3.25sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Got request to cancel active goal. ×2 + 3.78sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Canceling active goal... ×2 + 3.79sERRORobjective_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: 1786073924.98943686 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786073925.63668156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786073926.24681449 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786073926.84969926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.65sINFOobjective_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 + 5.65sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.65sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786073926.85163903 seconds ×3 + 6.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786073927.46490693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786073927.46564126 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786073928.06414390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_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 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2).[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 3.117059 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117059 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371272 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371272 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2).[0m ×2 + 3.55sWARNros2_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 + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786073755.03980231 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786073755.70653248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786073755.77669573 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786073756.38333774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.09sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3).[0m ×2 + 7.10sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786073758.50348163 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 87 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224538 ms (missed cycles : 4). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.224538 ms (missed cycles : 4).[0m ×2 + 0.09sINFOros2_control_node[2026-08-07 03:35:06.023] [info] Received new action goal ×2 + 0.09sINFOros2_control_node[2026-08-07 03:35:06.023] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5).[0m ×2 + 1.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.00sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.00sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.01sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Received new action goal ×2 + 2.01sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Accepted new action goal ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786073709.32229781 seconds ×3 + 3.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.40sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6).[0m ×2 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786073709.95966363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786073710.04979014 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786073710.69215465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.89sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Accepted new action goal ×2 + 5.31sWARNros2_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 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6).[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4).[0m ×2 + 0.61sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_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: 1786073912.97752404 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_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 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 25 warnings · 415 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8946] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.435] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.437] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3).[0m ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.60sINFOros2-7process has finished cleanly [pid 8948] ×2 + 0.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.63sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2-4process has finished cleanly [pid 8945] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.06sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2-6process has finished cleanly [pid 8947] ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 1.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 2.00sINFOros2-8process has finished cleanly [pid 8949] ×2 + 2.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.04sINFOforce_torque_sensor_broadcasterconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sINFOros2-2process has finished cleanly [pid 8943] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 5.89sWARNros2_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 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 6.96sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.10sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNros2_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 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 2.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 2.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.80sERRORobjective_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: 1786073912.97752404 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.48sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_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 + 4.12sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 4.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 4.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.87sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 4.87sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2).[0m ×2 + 6.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | 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 4.077926 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4).[0m ×2 + 1.07sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.59sINFOobjective_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 + 1.60sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Got request to cancel active goal. ×2 + 1.60sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Canceling active goal... ×2 + 1.61sERRORobjective_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: 1786073924.98943686 seconds ×3 + 1.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2).[0m ×2 + 2.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786073925.63668156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786073926.24681449 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786073926.84969926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.47sINFOobjective_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 + 3.47sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786073926.85163903 seconds ×3 + 3.73sWARNros2_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 + 4.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786073927.46490693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786073927.46564126 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786073928.06414390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7).[0m ×2 + 5.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786073929.36808372 seconds ×3 + 6.02sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310145 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310145 ms (missed cycles : 2).[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 2.193737 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4).[0m ×2 + 2.17sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.69sINFOobjective_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 + 2.70sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786073924.98943686 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786073925.63668156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786073926.24681449 seconds ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786073926.84969926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.57sINFOobjective_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 + 4.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786073926.85163903 seconds ×3 + 4.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786073927.46490693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786073927.46564126 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786073928.06414390 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.139628 ms (missed cycles : 7).[0m ×2 + 7.08sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786073929.36808372 seconds ×3 + 7.12sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.1s | 25 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.73sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.39sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.48sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.86sINFOobjective_server_node[0;93m2026-08-07 03:36:03.019465469 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042715458 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042764910 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786073764.95595574 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786073765.68217206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Accepted new action goal ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_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 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_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 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2).[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 7.035490 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5).[0m ×2 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786073709.32229781 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786073709.95966363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786073710.04979014 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786073710.69215465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − 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 + 0.02sINFOobjective_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 + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537693 ms (missed cycles : 5).[0m ×2 + 1.23sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073823.63653851 seconds ×3 + 1.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.24sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.30 s); wrist_camera (1.30 s). The render path has stopped producing new frames for them.[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720641 ms (missed cycles : 2).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073824.26823354 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_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 + 1.92sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.92sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.06sINFOobjective_server_nodeFound path in 0 iterations (4.96e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.07sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Received new action goal ×2 + 2.07sINFOros2_control_node[2026-08-07 03:37:04.472] [info] Accepted new action goal ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.036325 ms (missed cycles : 7).[0m ×2 + 3.37sINFOobjective_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 + 3.39sINFOobjective_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 + 3.39sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.67sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786073826.07700467 seconds ×3 + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.139488 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786073826.72081065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.47sINFOros2_control_node[2026-08-07 03:37:06.875] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-07 03:37:06.875] [info] Accepted new action goal ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.452745 ms (missed cycles : 6). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.452745 ms (missed cycles : 6).[0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371896 ms (missed cycles : 5). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371896 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 3 errors · 25 warnings · 81 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907142 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.907142 ms (missed cycles : 6).[0m ×2 + 0.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933218 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421208 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.421208 ms (missed cycles : 3).[0m ×2 + 2.90sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 2.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791855 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791855 ms (missed cycles : 2).[0m ×2 + 3.27sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.27sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786073837.99049425 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786073838.65430236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.12sINFOobjective_server_nodeFound path in 5 iterations (0.00642517 s). ×2 + 4.19sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.21sINFOros2_control_node[2026-08-07 03:37:18.930] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-07 03:37:18.930] [info] Accepted new action goal ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777295 ms (missed cycles : 6). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.777295 ms (missed cycles : 6).[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140473 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140473 ms (missed cycles : 2).[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.257680 ms (missed cycles : 5). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.257680 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7).[0m ×2 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786073869.34451795 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786073870.11800075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780999 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780999 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.41sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Accepted new action goal ×2 + 5.24sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452252 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792525 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.197163 ms (missed cycles : 7).[0m ×2 + 2.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129093 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786073869.34451795 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.46sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.46sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786073870.11800075 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780999 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780999 ms (missed cycles : 2).[0m ×2 + 4.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.41sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Received new action goal ×2 + 4.41sINFOros2_control_node[2026-08-07 03:37:50.353] [info] Accepted new action goal ×2 + 5.24sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316559 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780808 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4).[0m ×2 + 0.61sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_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: 1786073912.97752404 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_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 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 28 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4).[0m ×2 + 3.25sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Got request to cancel active goal. ×2 + 3.78sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Canceling active goal... ×2 + 3.79sERRORobjective_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: 1786073924.98943686 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786073925.63668156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786073926.24681449 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786073926.84969926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.65sINFOobjective_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 + 5.65sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.65sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786073926.85163903 seconds ×3 + 6.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786073927.46490693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786073927.46564126 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 | ||||
| − 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 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_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 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 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 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_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 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_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 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.255439 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 14.195915 ms (missed cycles : 9).[0m ×2 + 1.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.08sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 03:34:51.853] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.454310 ms (missed cycles : 3).[0m ×2 + 2.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Got request to cancel active goal. ×2 + 2.73sINFOros2_control_node[2026-08-07 03:34:52.479] [info] Canceling active goal... ×2 + 2.75sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073692.49612117 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.75sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.275113 ms (missed cycles : 5).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786073693.13753867 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_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 + 3.50sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786073693.24767637 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786073693.88106394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_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 2.093955 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.093955 ms (missed cycles : 2).[0m ×2 + 4.32sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-08-07 03:34:54.085] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.075886 ms (missed cycles : 5).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217628 ms (missed cycles : 2).[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 7.035490 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5).[0m ×2 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786073709.32229781 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786073709.95966363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786073710.04979014 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786073710.69215465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 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 7.035490 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5).[0m ×2 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786073709.32229781 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786073709.95966363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786073710.04979014 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786073710.69215465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3).[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 7.035490 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.035490 ms (missed cycles : 5).[0m ×2 + 0.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Received new action goal ×2 + 0.91sINFOros2_control_node[2026-08-07 03:35:07.935] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.057110 ms (missed cycles : 7).[0m ×2 + 2.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786073709.32229781 seconds ×3 + 2.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.31sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.878887 ms (missed cycles : 6).[0m ×2 + 2.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.94sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786073709.95966363 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786073710.04979014 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.470815 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786073710.69215465 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.77sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 03:35:10.818] [info] Accepted new action goal ×2 + 4.21sWARNros2_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 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.768237 ms (missed cycles : 6).[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060215 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971400 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.00sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 1.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 03:35:18.884] [info] Accepted new action goal ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.375893 ms (missed cycles : 6).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119111 ms (missed cycles : 5).[0m ×2 + 3.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Got request to cancel active goal. ×2 + 3.10sINFOros2_control_node[2026-08-07 03:35:20.972] [info] Canceling active goal... ×2 + 3.11sERRORobjective_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: 1786073720.98485422 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.16sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.193565 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786073721.62713385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.75sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-08-07 03:35:21.821] [info] Accepted new action goal ×2 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.543696 ms (missed cycles : 4).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813085 ms (missed cycles : 2).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 26 warnings · 85 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (6.36e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (5.55e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074025 ms (missed cycles : 5). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.074025 ms (missed cycles : 5).[0m ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.14sINFOobjective_server_nodeFound path in 1 iterations (0.00507651 s). ×2 + 0.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.37sINFOros2_control_node[2026-08-07 03:35:40.147] [info] Received new action goal ×2 + 0.38sINFOros2_control_node[2026-08-07 03:35:40.147] [info] Accepted new action goal ×2 + 0.81sINFOros2_control_node[2026-08-07 03:35:40.579] [info] Received new action goal ×2 + 0.81sINFOros2_control_node[2026-08-07 03:35:40.579] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526781 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526781 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920046 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920046 ms (missed cycles : 3).[0m ×2 + 2.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNros2_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 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981981 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981981 ms (missed cycles : 3).[0m ×2 + 3.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 3.26sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.27sINFOros2_control_node[2026-08-07 03:35:43.041] [info] Received new action goal ×2 + 3.27sINFOros2_control_node[2026-08-07 03:35:43.041] [info] Accepted new action goal ×2 + 3.30sINFOobjective_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 + 3.31sINFOros2_control_node[2026-08-07 03:35:43.077] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-08-07 03:35:43.077] [info] Canceling active goal... ×2 + 3.31sERRORobjective_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: 1786073743.08262539 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786073743.74279690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.17sINFOros2_control_node[2026-08-07 03:35:43.937] [info] Received new action goal ×2 + 4.17sINFOros2_control_node[2026-08-07 03:35:43.937] [info] Accepted new action goal ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928859 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.928859 ms (missed cycles : 3).[0m ×2 + 4.68sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699371 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.699371 ms (missed cycles : 5).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948108 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117059 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117059 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371272 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.371272 ms (missed cycles : 5).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.284266 ms (missed cycles : 5).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095289 ms (missed cycles : 2).[0m ×2 + 3.55sWARNros2_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 + 3.63sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786073755.03980231 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.64sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.64sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234306 ms (missed cycles : 3).[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786073755.70653248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.34sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786073755.77669573 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786073756.38333774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.09sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Received new action goal ×2 + 5.09sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 20 warnings · 122 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786073755.70653248 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786073755.77669573 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.68sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786073756.38333774 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-07 03:35:56.497] [info] Accepted new action goal ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.316802 ms (missed cycles : 2).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801888 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786073758.50348163 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848534 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848534 ms (missed cycles : 2).[0m ×2 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649943 ms (missed cycles : 6). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.649943 ms (missed cycles : 6).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786073760.10735297 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_node[2026-08-07 03:36:00.830] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 5.48sWARNros2_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 + 5.97sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 5.97sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.18sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 6.69sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 6.69sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.84sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.90sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [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 + 6.90sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 6.90sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.93sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 25 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.73sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.39sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.48sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.86sINFOobjective_server_node[0;93m2026-08-07 03:36:03.019465469 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042715458 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042764910 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786073764.95595574 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786073765.68217206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Accepted new action goal ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 25 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.73sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.39sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.48sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.86sINFOobjective_server_node[0;93m2026-08-07 03:36:03.019465469 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042715458 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042764910 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786073764.95595574 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786073765.68217206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Accepted new action goal ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.73sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.39sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.48sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.86sINFOobjective_server_node[0;93m2026-08-07 03:36:03.019465469 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042715458 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042764910 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786073764.95595574 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786073765.68217206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Accepted new action goal ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 25 warnings · 77 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830185 ms (missed cycles : 2).[0m ×2 + 0.03sWARNros2_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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672638101 [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 + 0.51sINFOobjective_server_node[0;93m2026-08-07 03:36:01.672677438 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.73sINFOobjective_server_node[2026-08-07 03:36:01.886] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.277394 ms (missed cycles : 3).[0m ×2 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397912503 [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 + 1.24sINFOobjective_server_node[0;93m2026-08-07 03:36:02.397946956 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.39sINFOobjective_server_node[2026-08-07 03:36:02.547] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.44sINFOobjective_server_node[0;93m2026-08-07 03:36:02.603369185 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608042491 [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 + 1.45sINFOobjective_server_node[0;93m2026-08-07 03:36:02.608080138 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.48sINFOobjective_server_node[2026-08-07 03:36:02.635] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.86sINFOobjective_server_node[0;93m2026-08-07 03:36:03.019465469 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042715458 [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 + 1.88sINFOobjective_server_node[0;93m2026-08-07 03:36:03.042764910 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652667 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.533663 ms (missed cycles : 6).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786073764.95595574 seconds ×3 + 3.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.86sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.650303 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786073765.68217206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.53sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.53sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.60sINFOobjective_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 + 4.61sINFOobjective_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 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 03:36:06.110] [info] Accepted new action goal ×2 + 5.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.822596 ms (missed cycles : 5).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933551 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 errors · 20 warnings · 106 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 (4.58e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-07 03:36:56.340] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-07 03:36:56.340] [info] Accepted new action goal ×2 + 0.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893732 ms (missed cycles : 3). + 0.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893732 ms (missed cycles : 3).[0m ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430613 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430613 ms (missed cycles : 3).[0m ×2 + 2.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.56 s); wrist_camera (1.56 s). The render path has stopped producing new frames for them.[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482020 ms (missed cycles : 4). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.482020 ms (missed cycles : 4).[0m ×2 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359503 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786073819.94520402 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786073820.55332756 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.51sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 03:37:00.727] [info] Accepted new action goal ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330222 ms (missed cycles : 2).[0m ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3). + 5.78sINFOobjective_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 + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641613 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.84sINFOobjective_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 + 5.84sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.84sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.84sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.84sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.19sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 6.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 31 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796322 ms (missed cycles : 4).[0m ×2 + 0.49sWARNros2_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 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 03:37:57.567] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131595 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807915 ms (missed cycles : 2).[0m ×2 + 2.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.93sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-08-07 03:37:59.482] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694389 ms (missed cycles : 3).[0m ×2 + 3.93sINFOobjective_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 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Got request to cancel active goal. ×2 + 3.93sINFOros2_control_node[2026-08-07 03:38:00.478] [info] Canceling active goal... ×2 + 3.95sERRORobjective_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: 1786073880.49306130 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.472014 ms (missed cycles : 7).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786073881.16920972 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.80sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.80sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Received new action goal ×2 + 4.81sINFOros2_control_node[2026-08-07 03:38:01.355] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722067 ms (missed cycles : 2).[0m ×2 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.533658 ms (missed cycles : 4).[0m ×2 + 6.72sINFOobjective_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 5.822541 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.822541 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266087 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.266087 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192471 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.192471 ms (missed cycles : 4).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077958 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.077958 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786073891.47979116 seconds ×3 + 3.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.39sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786073892.08009052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133409 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133409 ms (missed cycles : 5).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.30sINFOros2_control_node[2026-08-07 03:38:12.405] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 03:38:12.405] [info] Accepted new action goal ×2 + 4.98sWARNros2_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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996952 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996952 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 25 warnings · 45 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308564 ms (missed cycles : 2). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308564 ms (missed cycles : 2).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849551 ms (missed cycles : 6). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.849551 ms (missed cycles : 6).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406051 ms (missed cycles : 5). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.406051 ms (missed cycles : 5).[0m ×2 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739043 ms (missed cycles : 2). + 3.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739043 ms (missed cycles : 2).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786073902.01280928 seconds ×3 + 3.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.93sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.53sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786073902.62714672 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.66sINFOobjective_server_nodeFound path in 0 iterations (5.46e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.67sINFOros2_control_node[2026-08-07 03:38:22.761] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-07 03:38:22.761] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584906 ms (missed cycles : 4). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584906 ms (missed cycles : 4).[0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017961 ms (missed cycles : 2). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.017961 ms (missed cycles : 2).[0m ×2 + 6.03sWARNros2_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 + 6.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.57sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4).[0m ×2 + 0.61sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_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: 1786073912.97752404 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_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 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4).[0m ×2 + 0.61sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_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: 1786073912.97752404 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_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 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.738423 ms (missed cycles : 4).[0m ×2 + 0.61sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_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: 1786073912.97752404 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.03sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_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 + 4.74sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 5.48sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_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 + 2.31sERRORobjective_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: 1786073912.97752404 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.64sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.39sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2).[0m ×2 + 6.42sWARNros2_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 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.632061 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096197 ms (missed cycles : 2).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.415602 ms (missed cycles : 5).[0m ×2 + 2.30sINFOobjective_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 + 2.31sERRORobjective_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: 1786073912.97752404 seconds ×3 + 2.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.33sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.33sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.33sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.34sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.34sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786073913.60263896 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.99sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.02sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786073913.68279076 seconds ×3 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.850083 ms (missed cycles : 6).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786073914.28456903 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.64sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786073914.30669546 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.715999 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786073914.90954065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.39sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 03:38:35.054] [info] Accepted new action goal ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.241521 ms (missed cycles : 5).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203384 ms (missed cycles : 2).[0m ×2 + 6.42sWARNros2_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 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 28 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.536780 ms (missed cycles : 5).[0m ×2 + 0.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193737 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077926 ms (missed cycles : 3).[0m ×2 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759983 ms (missed cycles : 4).[0m ×2 + 3.25sINFOros2_control_nodeMuJoCo sim: 0.61% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.77sINFOobjective_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 + 3.78sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Got request to cancel active goal. ×2 + 3.78sINFOros2_control_node[2026-08-07 03:38:44.979] [info] Canceling active goal... ×2 + 3.79sERRORobjective_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: 1786073924.98943686 seconds ×3 + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.507359 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786073925.63668156 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.04sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786073926.24681449 seconds ×3 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949153 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786073926.84969926 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.65sINFOobjective_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 + 5.65sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.65sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786073926.85163903 seconds ×3 + 6.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786073927.46490693 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786073927.46564126 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.884678 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.8s | 39 warnings · 585 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-07-03-34-28-132659-3b38bc736b29-8894 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_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. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038638 ms (missed cycles : 5). + 2.06sINFOcontroller_managerReceived robot description from topic. + 2.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.06sINFOros2_control_node-1process started with pid [8942] ×2 + 2.06sINFOmove_group-9process started with pid [8961] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8962] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8963] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8967] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8983] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [8984] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [8985] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [8986] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [8987] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [8988] ×2 + 2.06sINFOweb_bridge-19process started with pid [8989] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9053] ×2 + 2.07sINFOvideo_server-21process started with pid [9054] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [9055] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [9056] ×2 + 2.08sINFOros2-2process started with pid [8943] ×2 + 2.08sINFOros2-3process started with pid [8944] ×2 + 2.08sINFOros2-4process started with pid [8945] ×2 + 2.08sINFOros2-5process started with pid [8946] ×2 + 2.08sINFOros2-6process started with pid [8947] ×2 + 2.08sINFOros2-7process started with pid [8948] ×2 + 2.08sINFOros2-8process started with pid [8949] ×2 + 2.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.13sWARNros2_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 + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038638 ms (missed cycles : 5).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.36sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.48sINFOvideo_server2026/08/07 03:34:31 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.48sINFOvideo_server2026/08/07 03:34:31 INF configuration loaded from /tmp/moveit-webrtc-a51zqmc1/mediamtx.yml ×2 + 2.48sINFOvideo_server2026/08/07 03:34:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.49sINFOvideo_server2026/08/07 03:34:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.01sINFOmove_group[2026-08-07 03:34:31.907] [moveit_pro_license] [info] ×2 + 3.01sINFOmove_group************************************************* ×4 + 3.01sINFOmove_group* MoveIt Pro License ×2 + 3.01sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.790008 ms (missed cycles : 10). + 3.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 15.790008 ms (missed cycles : 10).[0m ×2 + 3.34sINFOwaypoint_manager_node[2026-08-07 03:34:32.232] [moveit_pro_license] [info] ×2 + 3.34sINFOwaypoint_manager_node************************************************* ×4 + 3.34sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.34sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.46sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.46sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.51sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.51sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.52sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.53sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.53sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.59sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.67sINFOmove_group ×4 + 3.67sINFOmove_group[92mYou can start planning now![0m ×2 + 3.70sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.70sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.70sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.70sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.82sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.82sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475246 ms (missed cycles : 5). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.475246 ms (missed cycles : 5).[0m ×2 + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.95sINFOobjective_server_node[2026-08-07 03:34:33.845] [moveit_pro_license] [info] ×2 + 4.95sINFOobjective_server_node************************************************* ×4 + 4.95sINFOobjective_server_node* MoveIt Pro License ×2 + 4.95sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.06sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.06sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.08sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.08sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.08sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.08sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.08sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.08sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.08sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.08sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.20sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.20sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.31sINFOcomponent_container_mt[2026-08-07 03:34:34.200] [moveit_pro_license] [info] ×2 + 5.31sINFOcomponent_container_mt************************************************* ×4 + 5.31sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.31sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.53sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.53sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.53sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.53sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.53sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.53sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.53sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.53sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.54sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.54sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.54sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.54sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.54sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.57sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.57sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.57sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.57sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.58sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 5.58sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 5.58sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.59sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.59sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.59sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.59sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.59sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.59sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.59sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.60sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351796 ms (missed cycles : 4). + 5.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351796 ms (missed cycles : 4).[0m ×2 + 5.60sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.60sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.84sWARNobjective_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 + 5.90sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.90sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.90sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.90sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.90sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 5.91sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 5.95sINFOros2-3process has finished cleanly [pid 8944] ×2 + 5.99sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.99sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.99sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.99sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.99sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.99sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.99sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.99sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.02sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.02sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.02sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.02sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.02sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.03sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.05sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.32sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.32sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.32sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.36sINFOros2-5process has finished cleanly [pid 8946] ×2 + 6.43sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 6.43sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 6.50sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.50sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.51sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.54sINFOros2_control_node[2026-08-07 03:34:35.435] [info] Controller state will be published at 10 Hz. ×2 + 6.54sINFOros2_control_node[2026-08-07 03:34:35.437] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3).[0m ×2 + 6.88sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.88sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.88sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.88sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.88sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 6.89sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 6.93sINFOros2-7process has finished cleanly [pid 8948] ×2 + 6.94sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.94sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.94sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.94sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.94sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.94sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.95sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.95sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.95sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.95sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.26sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.31sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.31sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.31sINFOros2-4process has finished cleanly [pid 8945] ×2 + 7.32sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.32sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.32sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.39sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 7.39sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 7.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.43sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 7.44sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 7.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.44sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.44sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.46sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.46sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 7.47sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 7.72sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.80sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.80sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.80sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.80sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.83sINFOros2-6process has finished cleanly [pid 8947] ×2 + 7.88sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 7.88sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 7.92sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.92sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.93sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.93sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.95sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 7.95sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.06sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.07sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 8.30sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 8.30sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 8.30sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 8.30sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 8.30sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 8.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 8.32sINFOros2-8process has finished cleanly [pid 8949] ×2 + 8.35sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 8.35sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.35sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 8.35sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 8.36sINFOforce_torque_sensor_broadcasterconfigure successful + 8.36sINFOros2_control_nodeconfigure successful[0m ×2 + 8.36sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 8.36sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 8.37sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 8.37sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 8.65sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.70sINFOros2-2process has finished cleanly [pid 8943] ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 9.71sWARNros2_control_nodeCamera render tick took 1.87 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 + 9.71sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 10.33sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 10.41sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 11.10sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 11.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 304 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.09sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2-6process has finished cleanly [pid 8947] ×2 + 0.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.24sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 0.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.61sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.65sINFOforce_torque_sensor_broadcasterconfigure successful + 0.65sINFOros2_control_nodeconfigure successful[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.65sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOros2-2process has finished cleanly [pid 8943] ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_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 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.71sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.71sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 392 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.05sINFOros2-7process has finished cleanly [pid 8948] ×2 + 0.06sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.06sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.06sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.44sINFOros2-4process has finished cleanly [pid 8945] ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.58sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.58sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.92sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.92sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.95sINFOros2-6process has finished cleanly [pid 8947] ×2 + 1.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 1.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.44sINFOros2-8process has finished cleanly [pid 8949] ×2 + 1.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.48sINFOforce_torque_sensor_broadcasterconfigure successful + 1.48sINFOros2_control_nodeconfigure successful[0m ×2 + 1.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.82sINFOros2-2process has finished cleanly [pid 8943] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 2.84sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 5.34sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.54sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 25 warnings · 304 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 0.01sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.09sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.09sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.11sINFOros2-6process has finished cleanly [pid 8947] ×2 + 0.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.21sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.21sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.21sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.21sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.24sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 0.24sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.34sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.35sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 0.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.36sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.59sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.59sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.59sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.59sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.59sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.61sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.65sINFOforce_torque_sensor_broadcasterconfigure successful + 0.65sINFOros2_control_nodeconfigure successful[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.65sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.94sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.98sINFOros2-2process has finished cleanly [pid 8943] ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 2.00sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 2.62sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 4.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 5.57sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_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 + 5.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.69sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.71sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.71sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 22 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8946] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.435] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.437] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3).[0m ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.60sINFOros2-7process has finished cleanly [pid 8948] ×2 + 0.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.63sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2-4process has finished cleanly [pid 8945] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.06sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2-6process has finished cleanly [pid 8947] ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 1.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 2.00sINFOros2-8process has finished cleanly [pid 8949] ×2 + 2.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.04sINFOforce_torque_sensor_broadcasterconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sINFOros2-2process has finished cleanly [pid 8943] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 5.89sWARNros2_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 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 | ||||
| − 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/2026-08-07-03-34-28-132659-3b38bc736b29-8894 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.85sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.86sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_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. + 1.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038638 ms (missed cycles : 5). + 2.06sINFOcontroller_managerReceived robot description from topic. + 2.06sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.06sINFOros2_control_node-1process started with pid [8942] ×2 + 2.06sINFOmove_group-9process started with pid [8961] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8962] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8963] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8967] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8983] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [8984] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [8985] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [8986] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [8987] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [8988] ×2 + 2.06sINFOweb_bridge-19process started with pid [8989] ×2 + 2.06sINFOtf2_web_republisher_node-20process started with pid [9053] ×2 + 2.07sINFOvideo_server-21process started with pid [9054] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [9055] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [9056] ×2 + 2.08sINFOros2-2process started with pid [8943] ×2 + 2.08sINFOros2-3process started with pid [8944] ×2 + 2.08sINFOros2-4process started with pid [8945] ×2 + 2.08sINFOros2-5process started with pid [8946] ×2 + 2.08sINFOros2-6process started with pid [8947] ×2 + 2.08sINFOros2-7process started with pid [8948] ×2 + 2.08sINFOros2-8process started with pid [8949] ×2 + 2.08sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.12sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.13sWARNros2_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 + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.038638 ms (missed cycles : 5).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.13sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.36sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.48sINFOvideo_server2026/08/07 03:34:31 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.48sINFOvideo_server2026/08/07 03:34:31 INF configuration loaded from /tmp/moveit-webrtc-a51zqmc1/mediamtx.yml ×2 + 2.48sINFOvideo_server2026/08/07 03:34:31 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.49sINFOvideo_server2026/08/07 03:34:31 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 22 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8946] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.435] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.437] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3).[0m ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.60sINFOros2-7process has finished cleanly [pid 8948] ×2 + 0.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.63sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2-4process has finished cleanly [pid 8945] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.06sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2-6process has finished cleanly [pid 8947] ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 1.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 2.00sINFOros2-8process has finished cleanly [pid 8949] ×2 + 2.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.04sINFOforce_torque_sensor_broadcasterconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sINFOros2-2process has finished cleanly [pid 8943] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 5.89sWARNros2_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 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 22 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8946] ×2 + 0.11sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.11sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.17sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.18sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.18sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.18sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.19sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.435] [info] Controller state will be published at 10 Hz. ×2 + 0.22sINFOros2_control_node[2026-08-07 03:34:35.437] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749377 ms (missed cycles : 3).[0m ×2 + 0.56sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.60sINFOros2-7process has finished cleanly [pid 8948] ×2 + 0.62sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.62sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.62sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.62sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.62sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.63sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.99sINFOros2-4process has finished cleanly [pid 8945] ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.00sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.06sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.06sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.11sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.11sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.11sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 1.14sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 1.40sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.50sINFOros2-6process has finished cleanly [pid 8947] ×2 + 1.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.60sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.60sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 1.63sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.73sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.74sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 1.98sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.98sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.98sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.98sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.98sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 2.00sINFOros2-8process has finished cleanly [pid 8949] ×2 + 2.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.04sINFOforce_torque_sensor_broadcasterconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.33sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.37sINFOros2-2process has finished cleanly [pid 8943] ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 3.39sWARNros2_control_nodeCamera render tick took 1.87 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 + 3.39sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 4.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 4.78sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 5.89sWARNros2_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 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 6.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 6.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.33sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.34sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.34sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.35sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 392 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.05sINFOros2-7process has finished cleanly [pid 8948] ×2 + 0.06sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.06sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.06sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.07sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.07sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.07sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.38sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.43sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.43sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.43sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.43sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.44sINFOros2-4process has finished cleanly [pid 8945] ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.51sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.51sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.56sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.56sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_node[2026-08-07 03:34:36.331] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.56sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.58sINFOros2_control_node[2026-08-07 03:34:36.355] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.58sINFOros2_control_node[2026-08-07 03:34:36.355] [info] Controller state will be published at 50 Hz. ×2 + 0.59sINFOros2_control_node[2026-08-07 03:34:36.360] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2). + 0.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678851 ms (missed cycles : 2).[0m ×2 + 0.85sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.92sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.92sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.92sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.92sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.95sINFOros2-6process has finished cleanly [pid 8947] ×2 + 1.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.05sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.07sINFOros2_control_node[2026-08-07 03:34:36.846] [info] Controller state will be published at 20 Hz. ×2 + 1.07sINFOros2_control_node[2026-08-07 03:34:36.847] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.18sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073676.95150852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.19sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073676.96171808 seconds ×3 + 1.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.43sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 1.43sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 1.44sINFOros2-8process has finished cleanly [pid 8949] ×2 + 1.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.48sINFOforce_torque_sensor_broadcasterconfigure successful + 1.48sINFOros2_control_nodeconfigure successful[0m ×2 + 1.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.82sINFOros2-2process has finished cleanly [pid 8943] ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 2.84sWARNros2_control_nodeCamera render tick took 1.87 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 + 2.84sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 5.34sWARNros2_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 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.79sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.79sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 6.40sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.42sINFOobjective_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 + 6.42sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.52sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.54sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 6.54sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 256 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 + 7.25sINFOros2_control_nodeMuJoCo sim: 0.34% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479317 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479317 ms (missed cycles : 2).[0m ×2 + 7.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
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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 | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[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 | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 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 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq + 0.00sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o32p846t --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ww51m_ru --params-file /tmp/launch_params_voalnbnq [0m ×2 + 0.02sINFOros2-8process has finished cleanly [pid 8949] ×2 + 0.05sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.05sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.06sINFOforce_torque_sensor_broadcasterconfigure successful + 0.06sINFOros2_control_nodeconfigure successful[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.06sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×14 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 0.07sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.07sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.35sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786073677.55022597 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.36sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.36sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.39sINFOros2-2process has finished cleanly [pid 8943] ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716487 ms (missed cycles : 3).[0m ×2 + 1.41sWARNros2_control_nodeCamera render tick took 1.87 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 + 1.41sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786073678.61037660 seconds ×3 + 1.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 2.03sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786073679.22526526 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872937 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786073679.30543852 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073679.99932313 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073680.00944304 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982178 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073680.73178172 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073680.88235521 seconds ×3 + 3.91sWARNros2_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 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538262 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073681.53137231 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073681.57150340 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786073682.17901397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (2.4289e-05 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-07 03:34:42.318] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.568831 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.236284 ms (missed cycles : 4).[0m ×2 | ||||