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 | 42.0s | 160 warnings · 297 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 0.19sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786076141.02618885 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786076141.71978951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2).[0m ×2 + 7.14sINFOobjective_server_nodeFound path in 0 iterations (3.03e-07 s). ×2 + 7.16sINFOros2_control_node[2026-08-07 04:15:45.004] [info] Received new action goal ×2 + 7.16sINFOros2_control_node[2026-08-07 04:15:45.004] [info] Accepted new action goal ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783731 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783731 ms (missed cycles : 2).[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789245 ms (missed cycles : 3). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789245 ms (missed cycles : 3).[0m ×2 + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828967 ms (missed cycles : 2). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828967 ms (missed cycles : 2).[0m ×2 + 9.95sWARNros2_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 + 10.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.34sINFOros2_control_node[2026-08-07 04:15:48.184] [info] Received new action goal ×2 + 10.34sINFOros2_control_node[2026-08-07 04:15:48.184] [info] Accepted new action goal ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783575 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.783575 ms (missed cycles : 2).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769264 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769264 ms (missed cycles : 2).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.384490 ms (missed cycles : 6). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.384490 ms (missed cycles : 6).[0m ×2 + 13.31sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 13.31sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.36sINFOros2_control_node[2026-08-07 04:15:51.207] [info] Received new action goal ×2 + 13.36sINFOros2_control_node[2026-08-07 04:15:51.207] [info] Accepted new action goal ×2 + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447736 ms (missed cycles : 3). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.447736 ms (missed cycles : 3).[0m ×2 + 15.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913680 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913680 ms (missed cycles : 2).[0m ×2 + 16.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.31sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.32sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336972 ms (missed cycles : 5). + 16.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.336972 ms (missed cycles : 5).[0m ×2 + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145461 ms (missed cycles : 2).[0m ×2 + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440578 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440578 ms (missed cycles : 3).[0m ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635423 ms (missed cycles : 3). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635423 ms (missed cycles : 3).[0m ×2 + 20.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 21.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604624 ms (missed cycles : 3). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604624 ms (missed cycles : 3).[0m ×2 + 22.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372347 ms (missed cycles : 2). + 22.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.372347 ms (missed cycles : 2).[0m ×2 + 23.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 23.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.11sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.11sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.11sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.11sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306415 ms (missed cycles : 5). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.306415 ms (missed cycles : 5).[0m ×2 + 23.99sINFOros2_control_node[2026-08-07 04:16:01.844] [info] Received new action goal ×2 + 24.00sINFOros2_control_node[2026-08-07 04:16:01.844] [info] Accepted new action goal ×2 + 24.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730985 ms (missed cycles : 5). + 24.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.730985 ms (missed cycles : 5).[0m ×2 + 25.16sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 25.17sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390566 ms (missed cycles : 2). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390566 ms (missed cycles : 2).[0m ×2 + 25.45sINFOobjective_server_nodeFound path in 0 iterations (4.49e-07 s). ×2 + 25.45sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.50sINFOros2_control_node[2026-08-07 04:16:03.349] [info] Received new action goal ×2 + 25.50sINFOros2_control_node[2026-08-07 04:16:03.349] [info] Accepted new action goal ×2 + 26.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630418 ms (missed cycles : 3). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630418 ms (missed cycles : 3).[0m ×2 + 27.09sWARNros2_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 + 27.64sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 27.64sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.66sINFOros2_control_node[2026-08-07 04:16:05.504] [info] Received new action goal ×2 + 27.66sINFOros2_control_node[2026-08-07 04:16:05.504] [info] Accepted new action goal ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806184 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806184 ms (missed cycles : 2).[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131118 ms (missed cycles : 5). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.131118 ms (missed cycles : 5).[0m ×2 + 29.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527355 ms (missed cycles : 5). + 29.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.527355 ms (missed cycles : 5).[0m ×2 + 30.69sINFOros2_control_node[2026-08-07 04:16:08.534] [info] Received new action goal ×2 + 30.69sINFOros2_control_node[2026-08-07 04:16:08.534] [info] Accepted new action goal ×2 + 30.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038837 ms (missed cycles : 2). + 30.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038837 ms (missed cycles : 2).[0m ×2 + 32.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047946 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047946 ms (missed cycles : 2).[0m ×2 + 32.14sWARNros2_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 + 33.28sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). ×2 + 33.28sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913403 ms (missed cycles : 2). + 33.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913403 ms (missed cycles : 2).[0m ×2 + 33.34sINFOros2_control_node[2026-08-07 04:16:11.187] [info] Received new action goal ×2 + 33.34sINFOros2_control_node[2026-08-07 04:16:11.187] [info] Accepted new action goal ×2 + 34.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710475 ms (missed cycles : 2). + 34.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710475 ms (missed cycles : 2).[0m ×2 + 35.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350648 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350648 ms (missed cycles : 2).[0m ×2 + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519244 ms (missed cycles : 4). + 36.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.519244 ms (missed cycles : 4).[0m ×2 + 37.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544121 ms (missed cycles : 6). + 37.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544121 ms (missed cycles : 6).[0m ×2 + 38.33sWARNros2_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 + 38.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445182 ms (missed cycles : 2). + 38.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445182 ms (missed cycles : 2).[0m ×2 + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322677 ms (missed cycles : 4). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322677 ms (missed cycles : 4).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044515 ms (missed cycles : 2). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.044515 ms (missed cycles : 2).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090044 ms (missed cycles : 2). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090044 ms (missed cycles : 2).[0m ×2 + 42.68sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611380 ms (missed cycles : 2). + 43.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611380 ms (missed cycles : 2).[0m ×2 + 44.00sWARNros2_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 + 44.00sINFOros2_control_node[2026-08-07 04:16:21.853] [info] Received new action goal ×2 + 44.00sINFOros2_control_node[2026-08-07 04:16:21.853] [info] Accepted new action goal ×2 + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.645273 ms (missed cycles : 6). + 44.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.645273 ms (missed cycles : 6).[0m ×2 + 45.16sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786076183.01000834 seconds ×3 + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542019 ms (missed cycles : 4). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542019 ms (missed cycles : 4).[0m ×2 + 45.97sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786076183.81987715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.709497 ms (missed cycles : 6). + 46.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.709497 ms (missed cycles : 6).[0m ×2 + 47.15sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 47.16sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.18sINFOros2_control_node[2026-08-07 04:16:25.024] [info] Received new action goal ×2 + 47.18sINFOros2_control_node[2026-08-07 04:16:25.024] [info] Accepted new action goal ×2 + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025838 ms (missed cycles : 2). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025838 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 32.3s | 3 errors · 128 warnings · 255 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682577 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682577 ms (missed cycles : 5).[0m ×2 + 0.25sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082323 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082323 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733411 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733411 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_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 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.92sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.92sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786076212.69929481 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525061 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525061 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786076213.41841865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 70 iterations (0.0217969 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________X___________________________________X] ×2 + 3.91sINFOros2_control_node[2026-08-07 04:16:53.684] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-07 04:16:53.684] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835955 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835955 ms (missed cycles : 5).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964521 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964521 ms (missed cycles : 2).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761470 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761470 ms (missed cycles : 2).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322322 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322322 ms (missed cycles : 3).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028881 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028881 ms (missed cycles : 2).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.352282 ms (missed cycles : 7). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.352282 ms (missed cycles : 7).[0m ×2 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200328 ms (missed cycles : 3). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200328 ms (missed cycles : 3).[0m ×2 + 11.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 11.37sINFOobjective_server_node[2026-08-07 04:17:01.151] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712152 ms (missed cycles : 5). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.712152 ms (missed cycles : 5).[0m ×2 + 12.05sINFOobjective_server_node[0;m[0;93m2026-08-07 04:17:01.830703495 [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 + 12.05sINFOobjective_server_node[0;93m2026-08-07 04:17:01.830729827 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.22sINFOobjective_server_node[2026-08-07 04:17:02.001] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.71sINFOobjective_server_node[0;93m2026-08-07 04:17:02.491303478 [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 + 12.71sINFOobjective_server_node[0;93m2026-08-07 04:17:02.491342075 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.83sINFOobjective_server_node[2026-08-07 04:17:02.610] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.88sINFOobjective_server_node[0;93m2026-08-07 04:17:02.657548640 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 12.88sINFOobjective_server_node[0;93m2026-08-07 04:17:02.660431980 [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 + 12.88sINFOobjective_server_node[0;93m2026-08-07 04:17:02.660452101 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.90sINFOobjective_server_node[2026-08-07 04:17:02.675] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841887 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841887 ms (missed cycles : 3).[0m ×2 + 13.25sINFOobjective_server_node[0;93m2026-08-07 04:17:03.029499236 [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 + 13.27sINFOobjective_server_node[0;93m2026-08-07 04:17:03.052116857 [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 + 13.27sINFOobjective_server_node[0;93m2026-08-07 04:17:03.052147521 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838214 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838214 ms (missed cycles : 2).[0m ×2 + 14.96sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200094 ms (missed cycles : 2). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200094 ms (missed cycles : 2).[0m ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822105 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822105 ms (missed cycles : 2).[0m ×2 + 17.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 17.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307131 ms (missed cycles : 2). + 17.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307131 ms (missed cycles : 2).[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.765772 ms (missed cycles : 6). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.765772 ms (missed cycles : 6).[0m ×2 + 19.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536587 ms (missed cycles : 6). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.536587 ms (missed cycles : 6).[0m ×2 + 19.71sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.05sINFOobjective_server_nodeFound path in 4 iterations (0.00487868 s). ×2 + 20.16sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.21sINFOobjective_server_nodeFound path in 12 iterations (0.00748898 s). ×2 + 20.32sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.36sINFOobjective_server_nodeFound path in 2 iterations (0.0065013 s). ×2 + 20.43sINFOobjective_server_nodePath shortcutter: [X____________________________X___________________X] ×2 + 20.46sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 20.51sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.54sINFOobjective_server_nodeFound path in 0 iterations (6.15e-07 s). ×2 + 20.59sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.62sINFOobjective_server_nodeFound path in 2 iterations (0.00686011 s). ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.997650 ms (missed cycles : 5). + 20.70sINFOobjective_server_nodePath shortcutter: [X________________________________X_____X______________________X] ×2 + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.997650 ms (missed cycles : 5).[0m ×2 + 20.74sINFOobjective_server_nodeFound path in 1 iterations (0.0067637 s). ×2 + 20.81sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 20.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 20.90sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 20.93sINFOobjective_server_nodeFound path in 4 iterations (0.00802286 s). ×2 + 21.07sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.13sINFOobjective_server_nodeFound path in 41 iterations (0.0245581 s). ×2 + 21.22sINFOobjective_server_nodePath shortcutter: [X________________________________X___________________________________________X] ×2 + 21.24sINFOobjective_server_nodeFound path in 1 iterations (0.00543896 s). ×2 + 21.30sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 21.34sINFOobjective_server_nodeFound path in 26 iterations (0.0117916 s). ×2 + 21.43sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_____________________X] ×2 + 21.46sINFOobjective_server_nodeFound path in 0 iterations (2.37e-07 s). ×2 + 21.52sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.54sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 21.64sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 21.67sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 21.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845931 ms (missed cycles : 2). + 21.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845931 ms (missed cycles : 2).[0m ×2 + 21.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 21.81sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). ×2 + 21.96sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 22.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.19sINFOros2_control_node[2026-08-07 04:17:11.967] [info] Received new action goal ×2 + 22.19sINFOros2_control_node[2026-08-07 04:17:11.967] [info] Accepted new action goal ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833197 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833197 ms (missed cycles : 2).[0m ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.779453 ms (missed cycles : 7). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.779453 ms (missed cycles : 7).[0m ×2 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394780 ms (missed cycles : 3). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394780 ms (missed cycles : 3).[0m ×2 + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512951 ms (missed cycles : 3). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512951 ms (missed cycles : 3).[0m ×2 + 27.18sINFOros2_control_node[2026-08-07 04:17:16.959] [info] Received new action goal ×2 + 27.18sINFOros2_control_node[2026-08-07 04:17:16.959] [info] Accepted new action goal ×2 + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519574 ms (missed cycles : 2). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.519574 ms (missed cycles : 2).[0m ×2 + 28.35sWARNros2_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 + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.178620 ms (missed cycles : 6). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.178620 ms (missed cycles : 6).[0m ×2 + 28.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.71sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.72sINFOros2_control_node[2026-08-07 04:17:18.502] [info] Received new action goal ×2 + 28.72sINFOros2_control_node[2026-08-07 04:17:18.502] [info] Accepted new action goal ×2 + 29.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439491 ms (missed cycles : 4). + 29.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439491 ms (missed cycles : 4).[0m ×2 + 29.94sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 29.94sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.99sINFOros2_control_node[2026-08-07 04:17:19.764] [info] Received new action goal ×2 + 29.99sINFOros2_control_node[2026-08-07 04:17:19.764] [info] Accepted new action goal ×2 + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433346 ms (missed cycles : 2). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433346 ms (missed cycles : 2).[0m ×2 + 30.76sINFOros2_control_nodeMuJoCo sim: 0.23% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 31.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924679 ms (missed cycles : 5). + 31.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924679 ms (missed cycles : 5).[0m ×2 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8).[0m ×2 + 34.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2). + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2).[0m ×2 + 35.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786076244.97865629 seconds ×3 + 35.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 35.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 35.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4). + 35.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4).[0m ×2 + 35.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786076245.68031859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.16sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 36.16sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.17sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Received new action goal ×2 + 36.17sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Accepted new action goal ×2 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2).[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4).[0m ×2 + 38.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6). + 38.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6).[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 8.000582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_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 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651610 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651610 ms (missed cycles : 3).[0m ×2 + 8.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670994 ms (missed cycles : 4). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670994 ms (missed cycles : 4).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473203 ms (missed cycles : 4). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473203 ms (missed cycles : 4).[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387254 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387254 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230192 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230192 ms (missed cycles : 5).[0m ×2 + 12.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.65sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.66sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544218 ms (missed cycles : 4). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.544218 ms (missed cycles : 4).[0m ×2 + 12.95sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 12.95sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.96sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 12.98sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 13.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.04sINFOobjective_server_nodeFound path in 1 iterations (0.00306359 s). ×2 + 13.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.23sINFOros2_control_node[2026-08-07 04:14:39.970] [info] Received new action goal ×2 + 13.23sINFOros2_control_node[2026-08-07 04:14:39.970] [info] Accepted new action goal ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789853 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789853 ms (missed cycles : 2).[0m ×2 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011710 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011710 ms (missed cycles : 4).[0m ×2 + 15.70sINFOros2_control_node[2026-08-07 04:14:42.442] [info] Received new action goal ×2 + 15.70sINFOros2_control_node[2026-08-07 04:14:42.442] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528316 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528316 ms (missed cycles : 3).[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8).[0m ×2 + 17.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.56sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Received new action goal ×2 + 17.56sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Accepted new action goal ×2 + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3).[0m ×2 + 18.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786076085.69170952 seconds ×3 + 19.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786076086.30701470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7).[0m ×2 + 19.65sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786076086.39714408 seconds ×3 + 20.30sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786076087.04676056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.35sWARNros2_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 + 20.41sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 20.41sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.43sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Received new action goal ×2 + 20.43sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Accepted new action goal ×2 + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.1s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288128 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288128 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00326284 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.58sINFOros2_control_node[2026-08-07 04:15:17.339] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-08-07 04:15:17.339] [info] Accepted new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 04:15:17.771] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 04:15:17.771] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733373 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733373 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581141 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581141 ms (missed cycles : 3).[0m ×2 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.49sINFOobjective_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 + 2.50sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.50sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.50sERRORobjective_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: 1786076119.26764894 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990446 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990446 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786076120.13545561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.54sINFOros2_control_node[2026-08-07 04:15:20.299] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-08-07 04:15:20.299] [info] Accepted new action goal ×2 + 3.77sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331466 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331466 ms (missed cycles : 4).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159994 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159994 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_node[2026-08-07 04:15:22.813] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-07 04:15:22.813] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951137 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.951137 ms (missed cycles : 3).[0m ×2 + 7.28sWARNros2_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 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812325 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812325 ms (missed cycles : 3).[0m ×2 + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414191 ms (missed cycles : 4). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.414191 ms (missed cycles : 4).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487421 ms (missed cycles : 6). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.487421 ms (missed cycles : 6).[0m ×2 + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777401 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777401 ms (missed cycles : 2).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861980 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861980 ms (missed cycles : 3).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2).[0m ×2 + 13.31sWARNros2_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 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2). + 13.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2).[0m ×2 + 14.61sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786076131.37390757 seconds ×3 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786076131.96542215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.24sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786076132.02555847 seconds ×3 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3).[0m ×2 + 16.05sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786076132.81829834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.17sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 16.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.18sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Received new action goal ×2 + 16.18sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Accepted new action goal ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 15 errors · 60 warnings · 206 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090044 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090044 ms (missed cycles : 2).[0m ×2 + 0.24sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.68sINFOobjective_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 + 0.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.68sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.68sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.68sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.68sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.69sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.69sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611380 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611380 ms (missed cycles : 2).[0m ×2 + 1.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.56sWARNros2_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 + 1.56sINFOros2_control_node[2026-08-07 04:16:21.853] [info] Received new action goal ×2 + 1.56sINFOros2_control_node[2026-08-07 04:16:21.853] [info] Accepted new action goal ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.645273 ms (missed cycles : 6). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.645273 ms (missed cycles : 6).[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786076183.01000834 seconds ×3 + 2.78sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.78sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.78sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.78sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.79sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.79sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542019 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542019 ms (missed cycles : 4).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786076183.81987715 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.709497 ms (missed cycles : 6). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.709497 ms (missed cycles : 6).[0m ×2 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 4.72sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.73sINFOros2_control_node[2026-08-07 04:16:25.024] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-07 04:16:25.024] [info] Accepted new action goal ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025838 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025838 ms (missed cycles : 2).[0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424357 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424357 ms (missed cycles : 2).[0m ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436590 ms (missed cycles : 4). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.436590 ms (missed cycles : 4).[0m ×2 + 7.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.37 s); wrist_camera (1.37 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.44sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.44sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.44sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.44sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974880 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974880 ms (missed cycles : 2).[0m ×2 + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821649 ms (missed cycles : 2). + 10.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821649 ms (missed cycles : 2).[0m ×2 + 10.84sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 10.85sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.86sINFOros2_control_node[2026-08-07 04:16:31.154] [info] Received new action goal ×2 + 10.86sINFOros2_control_node[2026-08-07 04:16:31.155] [info] Accepted new action goal ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.194081 ms (missed cycles : 11). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.194081 ms (missed cycles : 11).[0m ×2 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216323 ms (missed cycles : 5). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216323 ms (missed cycles : 5).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690204 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690204 ms (missed cycles : 2).[0m ×2 + 13.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 14.47sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786076194.76002717 seconds ×3 + 14.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909696 ms (missed cycles : 3). + 14.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909696 ms (missed cycles : 3).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076195.41635752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.28sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 15.28sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.29sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Received new action goal ×2 + 15.29sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Accepted new action goal ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2).[0m ×2 + 16.55sINFOobjective_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 + 16.56sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4).[0m ×2 + 16.97sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×15 + 16.99sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3). + 17.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 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 | 11.4s | 15 errors · 68 warnings · 245 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.20sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×15 + 0.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3).[0m ×2 + 0.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076198.49081540 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 0.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076199.47311544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_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 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.83sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Accepted new action goal ×2 + 2.05sWARNros2_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 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076201.25015092 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786076201.87966037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-07 04:16:42.043] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 04:16:42.043] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087935 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087935 ms (missed cycles : 4).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005995 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005995 ms (missed cycles : 4).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093324 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093324 ms (missed cycles : 3).[0m ×2 + 7.12sWARNros2_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 + 7.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.42sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.44sINFOros2_control_node[2026-08-07 04:16:45.237] [info] Received new action goal ×2 + 7.44sINFOros2_control_node[2026-08-07 04:16:45.237] [info] Accepted new action goal ×2 + 7.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563820 ms (missed cycles : 2). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563820 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298136 ms (missed cycles : 2). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298136 ms (missed cycles : 2).[0m ×2 + 9.31sINFOros2_control_node[2026-08-07 04:16:47.101] [info] Received new action goal ×2 + 9.31sINFOros2_control_node[2026-08-07 04:16:47.101] [info] Accepted new action goal ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216567 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.216567 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115935 ms (missed cycles : 4). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.115935 ms (missed cycles : 4).[0m ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682577 ms (missed cycles : 5). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682577 ms (missed cycles : 5).[0m ×2 + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082323 ms (missed cycles : 5). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082323 ms (missed cycles : 5).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733411 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733411 ms (missed cycles : 3).[0m ×2 + 14.91sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786076212.69929481 seconds ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525061 ms (missed cycles : 3). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525061 ms (missed cycles : 3).[0m ×2 + 15.62sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786076213.41841865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 15.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.82sINFOobjective_server_nodeFound path in 70 iterations (0.0217969 s). ×2 + 15.88sINFOobjective_server_nodePath shortcutter: [X________________________X___________________________________X] ×2 + 15.89sINFOros2_control_node[2026-08-07 04:16:53.684] [info] Received new action goal ×2 + 15.89sINFOros2_control_node[2026-08-07 04:16:53.684] [info] Accepted new action goal ×2 + 16.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835955 ms (missed cycles : 5). + 16.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835955 ms (missed cycles : 5).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964521 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964521 ms (missed cycles : 2).[0m ×2 + 17.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761470 ms (missed cycles : 2). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761470 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 61 errors · 39 warnings · 317 info |
+ 0.00sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Got request to cancel active goal. ×2 + 0.01sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Canceling active goal... ×2 + 0.01sERRORobjective_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: 1786076300.32921600 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2).[0m ×2 + 0.22sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076300.92557621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3).[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076302.37572265 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076302.97000551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.65sINFOobjective_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 + 2.65sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.65sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076302.97212505 seconds ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076303.61701941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076303.61746550 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2).[0m ×2 + 3.60sWARNros2_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 + 3.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076304.20664740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076305.47677612 seconds ×3 + 5.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426157 ms (missed cycles : 4). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426157 ms (missed cycles : 4).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496764 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496764 ms (missed cycles : 2).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547092 ms (missed cycles : 3). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.547092 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656130 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656130 ms (missed cycles : 2).[0m ×2 + 9.66sWARNros2_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 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777681 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777681 ms (missed cycles : 2).[0m ×2 + 10.63sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.65sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.67sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORweb_video_auth_proxy-23process has died [pid 10334, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.67sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.69sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.70sERRORweb_bridge_auth_proxy-22process has died [pid 10333, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.70sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.71sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.72sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.74sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.74sINFOvideo_server-21process has finished cleanly [pid 10332] ×2 + 10.75sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.76sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.78sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.79sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.80sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.82sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.83sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.84sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.86sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.86sINFOcontroller_managerShutdown request received.... + 10.86sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.86sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.86sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.86sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.86sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.86sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.86sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.86sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.86sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.86sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.86sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.86sINFOcontroller_managerShutting down the controller manager. + 10.86sINFOvideo_server2026/08/07 04:18:31 INF shutting down gracefully ×2 + 10.86sINFOvideo_server2026/08/07 04:18:31 INF [WebRTC] closing ×2 + 10.86sINFOvideo_server2026/08/07 04:18:31 INF [RTSP] closing ×2 + 10.86sINFOvideo_server2026/08/07 04:18:31 INF waiting for running hooks ×2 + 10.86sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.86sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.86sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.86sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.86sERRORmove_groupStack trace (most recent call last) in thread 10669: ×2 + 10.86sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.86sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd4df7da63, in __clone ×2 + 10.86sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd4def0aa3, in ×2 + 10.86sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbd4e182db3, in ×2 + 10.86sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fbd4e8eeed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.86sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd4e514620, in rclcpp::Rate::sleep() ×2 + 10.86sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd4e456d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.87sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fbd4e418087, in ×2 + 10.87sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbd4e151390, in __cxa_throw ×2 + 10.87sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbd4e13ba54, in std::terminate() ×2 + 10.87sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbd4e1510d9, in ×2 + 10.87sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fbd4e13bff4, in ×2 + 10.87sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd4de7c8fe, in abort ×2 + 10.87sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd4de9927d, in raise ×2 + 10.87sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fbd4def2b2c, in pthread_kill ×2 + 10.87sERRORmove_groupAborted (Signal sent by tkill() 10257 0) ×2 + 10.87sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.87sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.87sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.87sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.87sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.87sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.87sERRORmove_group-9process has died [pid 10257, 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__8j147ha --params-file /tmp/launch_params_xaxdtiu0 --params-file /tmp/launch_params_xz04azy4 --params-file /tmp/launch_params_omj9kn66 --params-file /tmp/launch_params_ihmonk9o --params-file /tmp/launch_params_hicmw35h']. ×2 + 10.87sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.87sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.87sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.87sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.87sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.87sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.87sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.87sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.87sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.87sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.87sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.87sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.87sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.87sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.87sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.87sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.07sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.07sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.07sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.75sINFOtf2_web_republisher_node-20process has finished cleanly [pid 10331] ×2 + 11.75sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.83sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 10261] ×2 + 11.84sINFOui_teleop_bridge-18process has finished cleanly [pid 10266] ×2 + 11.85sINFOmove_joint_resampler_node-12process has finished cleanly [pid 10260] ×2 + 11.85sINFOexecute_objective_bridge-17process has finished cleanly [pid 10265] ×2 + 11.86sINFOcomponent_container_mt-16process has finished cleanly [pid 10264] ×2 + 11.89sINFOwaypoint_manager_node-11process has finished cleanly [pid 10259] ×2 + 11.91sINFOparameter_manager_node-10process has finished cleanly [pid 10258] ×2 + 11.98sINFOcomponent_container_mt-15process has finished cleanly [pid 10263] ×2 + 11.98sINFOobjective_server_node[0;m[2026-08-07 04:18:32.298] [moveit_pro_license] [info] ×2 + 11.98sINFOobjective_server_node************************************************* ×4 + 11.98sINFOobjective_server_node* MoveIt Pro License ×2 + 11.98sINFOobjective_server_node* Application has successfully terminated ×2 + 12.48sINFOobjective_server_node_main-14process has finished cleanly [pid 10262] ×2 + 12.48sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.01sINFOweb_bridge-19process has finished cleanly [pid 10267] ×2 + 13.01sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.50sINFOros2_control_node-1process has finished cleanly [pid 10220] ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 9 errors · 57 warnings · 174 info |
+ 0.00sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628919 ms (missed cycles : 3). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628919 ms (missed cycles : 3).[0m ×2 + 0.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.27sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.28sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786076106.03223181 seconds ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999174 ms (missed cycles : 4). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999174 ms (missed cycles : 4).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018833 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018833 ms (missed cycles : 2).[0m ×2 + 2.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.14sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786076108.87338829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.15sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.36sINFOros2_control_node[2026-08-07 04:15:09.087] [info] Received new action goal ×2 + 3.36sINFOros2_control_node[2026-08-07 04:15:09.087] [info] Accepted new action goal ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553544 ms (missed cycles : 5). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553544 ms (missed cycles : 5).[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930877 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930877 ms (missed cycles : 3).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.111277 ms (missed cycles : 7). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.111277 ms (missed cycles : 7).[0m ×2 + 6.19sWARNros2_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 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962266 ms (missed cycles : 4). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.962266 ms (missed cycles : 4).[0m ×2 + 7.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.48sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086172 ms (missed cycles : 5). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.086172 ms (missed cycles : 5).[0m ×2 + 7.76sINFOobjective_server_nodeFound path in 0 iterations (5.27e-07 s). ×2 + 7.76sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.77sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 7.78sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.80sINFOobjective_server_nodeFound path in 0 iterations (5.72e-07 s). ×2 + 7.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 7.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 1 iterations (0.00423535 s). ×2 + 8.12sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.15sINFOobjective_server_nodeFound path in 1 iterations (0.00481606 s). ×2 + 8.24sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.40sINFOobjective_server_nodeFound path in 0 iterations (2.45e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.63sINFOros2_control_node[2026-08-07 04:15:14.360] [info] Received new action goal ×2 + 8.63sINFOros2_control_node[2026-08-07 04:15:14.360] [info] Accepted new action goal ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012858 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.012858 ms (missed cycles : 4).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.551282 ms (missed cycles : 6). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.551282 ms (missed cycles : 6).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288128 ms (missed cycles : 3). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288128 ms (missed cycles : 3).[0m ×2 + 11.32sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 11.32sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.33sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 11.33sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.34sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 11.39sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.42sINFOobjective_server_nodeFound path in 1 iterations (0.00326284 s). ×2 + 11.53sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.61sINFOros2_control_node[2026-08-07 04:15:17.339] [info] Received new action goal ×2 + 11.61sINFOros2_control_node[2026-08-07 04:15:17.339] [info] Accepted new action goal ×2 + 12.04sINFOros2_control_node[2026-08-07 04:15:17.771] [info] Received new action goal ×2 + 12.04sINFOros2_control_node[2026-08-07 04:15:17.771] [info] Accepted new action goal ×2 + 12.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733373 ms (missed cycles : 3). + 12.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733373 ms (missed cycles : 3).[0m ×2 + 12.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581141 ms (missed cycles : 3). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581141 ms (missed cycles : 3).[0m ×2 + 13.53sINFOobjective_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 + 13.54sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.54sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.54sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.54sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.54sERRORobjective_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: 1786076119.26764894 seconds ×3 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990446 ms (missed cycles : 2). + 14.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990446 ms (missed cycles : 2).[0m ×2 + 14.41sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786076120.13545561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 14.57sINFOros2_control_node[2026-08-07 04:15:20.299] [info] Received new action goal ×2 + 14.57sINFOros2_control_node[2026-08-07 04:15:20.299] [info] Accepted new action goal ×2 + 14.80sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331466 ms (missed cycles : 4). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331466 ms (missed cycles : 4).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159994 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159994 ms (missed cycles : 2).[0m ×2 + 17.09sINFOros2_control_node[2026-08-07 04:15:22.813] [info] Received new action goal ×2 + 17.09sINFOros2_control_node[2026-08-07 04:15:22.813] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 60 warnings · 179 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462341 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933422 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933422 ms (missed cycles : 6).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911703 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911703 ms (missed cycles : 5).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223684 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786076277.26469493 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786076277.92413282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830111 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830111 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.29sINFOros2_control_node[2026-08-07 04:17:58.058] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 04:17:58.058] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073528 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073528 ms (missed cycles : 2).[0m ×2 + 6.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694334 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694334 ms (missed cycles : 5).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209435 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.209435 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940951 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940951 ms (missed cycles : 2).[0m ×2 + 9.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676409 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.676409 ms (missed cycles : 3).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881724 ms (missed cycles : 2). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.881724 ms (missed cycles : 2).[0m ×2 + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4).[0m ×2 + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 14.34sWARNros2_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 + 14.49sINFOobjective_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 + 14.50sERRORobjective_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: 1786076288.26447415 seconds ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 15.10sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.15sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.17sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.17sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.19sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 15.79sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.81sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 16.42sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.57sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 16.57sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.57sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 16.57sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 57 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.32sINFOros2_control_node[2026-08-07 04:14:21.200] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-08-07 04:14:21.200] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861140 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861140 ms (missed cycles : 5).[0m ×2 + 7.25sWARNros2_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 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296110 ms (missed cycles : 4). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.296110 ms (missed cycles : 4).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652326 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652326 ms (missed cycles : 2).[0m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774496 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774496 ms (missed cycles : 2).[0m ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). ×2 + 10.06sINFOros2_control_node[2026-08-07 04:14:24.940] [info] Received new action goal ×2 + 10.06sINFOros2_control_node[2026-08-07 04:14:24.940] [info] Accepted new action goal ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 13.38sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.40sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 13.96sWARNros2_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 + 13.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.98sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 13.98sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 14.00sERRORobjective_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: 1786076068.88169885 seconds ×3 + 14.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.60sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.71sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 15.34sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.52sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 15.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.53sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 15.53sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 57 warnings · 165 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786076085.69170952 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×6 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786076086.30701470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786076086.39714408 seconds ×3 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786076087.04676056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2).[0m ×2 + 6.68sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 6.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.69sINFOros2_control_node[2026-08-07 04:14:50.521] [info] Received new action goal ×2 + 6.69sINFOros2_control_node[2026-08-07 04:14:50.521] [info] Accepted new action goal ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438481 ms (missed cycles : 3). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438481 ms (missed cycles : 3).[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363821 ms (missed cycles : 3). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363821 ms (missed cycles : 3).[0m ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). ×2 + 9.02sINFOros2_control_node[2026-08-07 04:14:52.858] [info] Received new action goal ×2 + 9.03sINFOros2_control_node[2026-08-07 04:14:52.858] [info] Accepted new action goal ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062607 ms (missed cycles : 2). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062607 ms (missed cycles : 2).[0m ×2 + 9.30sWARNros2_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 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 11.41sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 11.43sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 11.43sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 13.52sINFOobjective_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 + 13.53sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 13.53sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 13.54sERRORobjective_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: 1786076097.37066579 seconds ×3 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 14.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.37sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 14.37sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 14.38sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 14.38sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848901 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848901 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879358 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879358 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358654 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.358654 ms (missed cycles : 2).[0m ×2 + 10.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450583 ms (missed cycles : 4). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450583 ms (missed cycles : 4).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896079 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896079 ms (missed cycles : 2).[0m ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879729 ms (missed cycles : 2). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879729 ms (missed cycles : 2).[0m ×2 + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403336 ms (missed cycles : 2). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403336 ms (missed cycles : 2).[0m ×2 + 14.21sERRORobjective_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: 1786076266.75981593 seconds ×3 + 14.81sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786076267.35731316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049048 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049048 ms (missed cycles : 3).[0m ×2 + 15.09sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.12sINFOros2_control_node[2026-08-07 04:17:47.662] [info] Received new action goal ×2 + 15.12sINFOros2_control_node[2026-08-07 04:17:47.662] [info] Accepted new action goal ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942409 ms (missed cycles : 5). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942409 ms (missed cycles : 5).[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098815 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098815 ms (missed cycles : 4).[0m ×2 + 17.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.8s | 9 errors · 58 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396716 ms (missed cycles : 4). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396716 ms (missed cycles : 4).[0m ×2 + 8.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.17sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.18sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.45sINFOobjective_server_nodeFound path in 0 iterations (8.08e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.47sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). ×2 + 8.52sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.53sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.60sINFOobjective_server_nodeFound path in 1 iterations (0.00291199 s). ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.281032 ms (missed cycles : 7). + 8.70sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.281032 ms (missed cycles : 7).[0m ×2 + 8.74sINFOobjective_server_nodeFound path in 1 iterations (0.00410379 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (2.36e-07 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 9.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.21sINFOros2_control_node[2026-08-07 04:15:03.313] [info] Received new action goal ×2 + 9.21sINFOros2_control_node[2026-08-07 04:15:03.313] [info] Accepted new action goal ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.038834 ms (missed cycles : 6). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.038834 ms (missed cycles : 6).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298913 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298913 ms (missed cycles : 2).[0m ×2 + 11.63sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628919 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628919 ms (missed cycles : 3).[0m ×2 + 11.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.90sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.90sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.91sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.93sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786076106.03223181 seconds ×3 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999174 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.999174 ms (missed cycles : 4).[0m ×2 + 13.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018833 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018833 ms (missed cycles : 2).[0m ×2 + 14.77sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786076108.87338829 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.97sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 14.99sINFOros2_control_node[2026-08-07 04:15:09.087] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-08-07 04:15:09.087] [info] Accepted new action goal ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553544 ms (missed cycles : 5). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.553544 ms (missed cycles : 5).[0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930877 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930877 ms (missed cycles : 3).[0m ×2 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.111277 ms (missed cycles : 7). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.111277 ms (missed cycles : 7).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 63 warnings · 143 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924679 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924679 ms (missed cycles : 5).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.28sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786076244.97865629 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786076245.68031859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919459 ms (missed cycles : 5). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.919459 ms (missed cycles : 5).[0m ×2 + 8.40sWARNros2_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 + 8.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.45sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278687 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278687 ms (missed cycles : 3).[0m ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 8.74sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (2.33e-07 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (5.44e-07 s). ×2 + 8.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.82sINFOobjective_server_nodeFound path in 1 iterations (0.00304049 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.97sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.98sINFOros2_control_node[2026-08-07 04:17:30.677] [info] Received new action goal ×2 + 8.98sINFOros2_control_node[2026-08-07 04:17:30.677] [info] Accepted new action goal ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710530 ms (missed cycles : 4). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710530 ms (missed cycles : 4).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 11.46sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 11.46sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 13.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.32sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 13.32sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 14.07sINFOobjective_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 + 14.08sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 14.08sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 14.09sERRORobjective_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: 1786076255.78536963 seconds ×3 + 14.83sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.95sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 14.95sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.96sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 14.96sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 15.24sWARNros2_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 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 16.87sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.8s | 6 errors · 60 warnings · 276 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 1.51sWARNros2_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 + 1.67sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.67sERRORobjective_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: 1786076288.26447415 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×16 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.75sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498690 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.498690 ms (missed cycles : 3).[0m ×2 + 6.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.39 s); wrist_camera (1.39 s). The render path has stopped producing new frames for them.[0m ×2 + 7.05sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.06sINFOros2_control_node[2026-08-07 04:18:13.648] [info] Received new action goal ×2 + 7.06sINFOros2_control_node[2026-08-07 04:18:13.648] [info] Accepted new action goal ×2 + 7.06sINFOros2_control_node[2026-08-07 04:18:13.648] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717983 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717983 ms (missed cycles : 2).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.062755 ms (missed cycles : 7). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.062755 ms (missed cycles : 7).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686264 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686264 ms (missed cycles : 2).[0m ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2).[0m ×2 + 12.26sWARNros2_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 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7).[0m ×2 + 13.73sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Got request to cancel active goal. ×2 + 13.73sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Canceling active goal... ×2 + 13.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076300.32921600 seconds ×3 + 13.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2).[0m ×2 + 13.94sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.33sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076300.92557621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3).[0m ×2 + 15.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076302.37572265 seconds ×3 + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7). + 15.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7).[0m ×2 + 16.38sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076302.97000551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.38sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.38sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.38sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.38sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076302.97212505 seconds ×3 + 17.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076303.61701941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.03sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076303.61746550 seconds ×3 + 17.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2). + 17.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 55 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896079 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896079 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879729 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879729 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403336 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403336 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sERRORobjective_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: 1786076266.75981593 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786076267.35731316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049048 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049048 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.48sINFOros2_control_node[2026-08-07 04:17:47.662] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-07 04:17:47.662] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942409 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942409 ms (missed cycles : 5).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098815 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098815 ms (missed cycles : 4).[0m ×2 + 5.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197336 ms (missed cycles : 5). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197336 ms (missed cycles : 5).[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790794 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.790794 ms (missed cycles : 2).[0m ×2 + 7.50sINFOros2_control_node[2026-08-07 04:17:51.680] [info] Received new action goal ×2 + 7.50sINFOros2_control_node[2026-08-07 04:17:51.680] [info] Accepted new action goal ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922919 ms (missed cycles : 2). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922919 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462341 ms (missed cycles : 3). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462341 ms (missed cycles : 3).[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933422 ms (missed cycles : 6). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933422 ms (missed cycles : 6).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911703 ms (missed cycles : 5). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911703 ms (missed cycles : 5).[0m ×2 + 11.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223684 ms (missed cycles : 2). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223684 ms (missed cycles : 2).[0m ×2 + 13.08sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786076277.26469493 seconds ×3 + 13.74sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786076277.92413282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830111 ms (missed cycles : 2). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830111 ms (missed cycles : 2).[0m ×2 + 13.86sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 13.86sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.88sINFOros2_control_node[2026-08-07 04:17:58.058] [info] Received new action goal ×2 + 13.88sINFOros2_control_node[2026-08-07 04:17:58.058] [info] Accepted new action goal ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073528 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073528 ms (missed cycles : 2).[0m ×2 + 15.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 15.79sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694334 ms (missed cycles : 5). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694334 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 5.1s | 40 warnings · 124 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786076132.81829834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.40sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786076134.94842625 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735366 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735366 ms (missed cycles : 3).[0m ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786076136.54525018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223148 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223148 ms (missed cycles : 3).[0m ×2 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_node[2026-08-07 04:15:37.020] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.30sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [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 + 5.30sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.01sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 6.01sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.15sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.20sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [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 + 6.21sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [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 + 6.21sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.22sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 6.57sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.59sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 6.59sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2).[0m ×2 + 8.48sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786076141.02618885 seconds ×3 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2).[0m ×2 + 9.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786076141.71978951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.18sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 9.26sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 9.54sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 9.56sWARNros2_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 + 9.59sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Received new action goal ×2 + 9.59sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Accepted new action goal ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5).[0m ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.9s | 34 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786076131.37390757 seconds ×3 + 1.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3).[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786076131.96542215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786076132.02555847 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786076132.81829834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.50sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 3.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7).[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2).[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786076134.94842625 seconds ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735366 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735366 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786076136.54525018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223148 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223148 ms (missed cycles : 3).[0m ×2 + 7.43sWARNros2_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 + 7.59sINFOobjective_server_node[2026-08-07 04:15:37.020] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.42sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.42sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 8.61sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.12sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 9.12sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.26sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.32sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.32sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [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 + 9.32sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.34sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 9.69sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.71sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 9.71sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.7s | 21 errors · 34 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.194081 ms (missed cycles : 11). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.194081 ms (missed cycles : 11).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216323 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216323 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690204 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690204 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786076194.76002717 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909696 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909696 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076195.41635752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.95sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_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 + 5.22sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4).[0m ×2 + 5.63sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.64sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3).[0m ×2 + 6.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076198.49081540 seconds ×3 + 6.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 6.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2).[0m ×2 + 7.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076199.47311544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 7.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 7.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 7.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 7.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 7.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 7.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 7.99sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 7.99sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Received new action goal ×2 + 7.99sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Accepted new action goal ×2 + 8.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3).[0m ×2 + 9.62sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076201.25015092 seconds ×3 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5).[0m ×2 + 10.24sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786076201.87966037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.7s | 21 errors · 29 warnings · 199 info |
+ 0.00sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076195.41635752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.16sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 0.16sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.16sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Received new action goal ×2 + 0.16sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Accepted new action goal ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2). + 0.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2).[0m ×2 + 1.43sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 1.44sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 1.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 1.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 1.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.50sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4).[0m ×2 + 1.85sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 1.86sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3).[0m ×2 + 3.07sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076198.49081540 seconds ×3 + 3.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076199.47311544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_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 + 4.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.20sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 4.21sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Received new action goal ×2 + 4.21sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Accepted new action goal ×2 + 4.43sWARNros2_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 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076201.25015092 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5).[0m ×2 + 6.46sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786076201.87966037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 6.62sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.63sINFOros2_control_node[2026-08-07 04:16:42.043] [info] Received new action goal ×2 + 6.63sINFOros2_control_node[2026-08-07 04:16:42.043] [info] Accepted new action goal ×2 + 7.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087935 ms (missed cycles : 4). + 7.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087935 ms (missed cycles : 4).[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005995 ms (missed cycles : 4). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005995 ms (missed cycles : 4).[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093324 ms (missed cycles : 3). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093324 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 2.0s | 3 errors · 31 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2).[0m ×2 + 1.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1786076300.32921600 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2).[0m ×2 + 3.19sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076300.92557621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076302.37572265 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076302.97000551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.63sINFOobjective_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 + 5.63sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.63sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076302.97212505 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076303.61701941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076303.61746550 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2).[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076304.20664740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5).[0m ×2 + 8.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076305.47677612 seconds ×3 + 8.18sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 30 warnings · 500 info |
+ 0.00sINFOcomponent_container_mt[2026-08-07 04:14:10.399] [moveit_pro_license] [info] ×2 + 0.00sINFOcomponent_container_mt************************************************* ×4 + 0.00sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.00sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.11sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.11sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.11sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.11sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.11sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.11sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.11sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.11sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.11sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.11sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.11sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.11sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.25sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.25sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.25sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.25sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.25sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.26sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.27sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.27sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.27sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.27sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.28sINFOforce_torque_sensor_broadcasterconfigure successful + 0.28sINFOros2_control_nodeconfigure successful[0m ×2 + 0.28sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.28sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.28sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.28sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.28sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.59sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.59sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.59sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.59sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.61sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.61sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.62sINFOros2-2process has finished cleanly [pid 10221] ×2 + 0.63sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.66sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.66sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.66sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.66sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.66sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.66sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.67sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.67sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.67sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.67sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.97sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.97sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.97sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.02sINFOros2-4process has finished cleanly [pid 10223] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718503 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718503 ms (missed cycles : 3).[0m ×2 + 1.10sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 1.10sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 1.15sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.15sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.15sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.15sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.15sINFOros2_control_node[2026-08-07 04:14:11.552] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.15sINFOros2_control_node[2026-08-07 04:14:11.552] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.19sINFOros2_control_node[2026-08-07 04:14:11.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.19sINFOros2_control_node[2026-08-07 04:14:11.586] [info] Controller state will be published at 50 Hz. ×2 + 1.19sINFOros2_control_node[2026-08-07 04:14:11.592] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.56sINFOros2-6process has finished cleanly [pid 10225] ×2 + 1.61sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 1.61sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.65sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.65sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.70sINFOros2_control_node[2026-08-07 04:14:12.104] [info] Controller state will be published at 10 Hz. ×2 + 1.71sINFOros2_control_node[2026-08-07 04:14:12.105] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.02sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.02sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.02sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.02sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 2.03sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 2.04sINFOros2-7process has finished cleanly [pid 10226] ×2 + 2.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.10sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.10sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.10sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.10sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.10sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.10sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.10sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.11sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.14sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.14sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 + 2.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.45sINFOros2-5process has finished cleanly [pid 10224] ×2 + 2.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 2.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 2.52sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.52sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.55sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 + 2.55sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.87sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.87sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.87sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.87sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.87sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 2.88sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 2.88sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.88sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.90sINFOros2-8process has finished cleanly [pid 10227] ×2 + 2.92sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.92sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.92sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.92sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.92sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.92sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.92sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.92sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.93sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.93sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.26sINFOros2-3process has finished cleanly [pid 10222] ×2 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.33sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 5.55sWARNros2_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 + 5.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.76sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 7.47sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.49sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.49sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.50sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.50sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.52sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 8.15sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.16sINFOobjective_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 + 8.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 8.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.28sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.55sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 2.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.57sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 3.13sWARNros2_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 + 3.14sINFOobjective_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 + 3.15sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 3.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-07 04:14:42.442] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-07 04:14:42.442] [info] Accepted new action goal ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528316 ms (missed cycles : 3). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528316 ms (missed cycles : 3).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8).[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Accepted new action goal ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786076085.69170952 seconds ×3 + 3.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.86sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786076086.30701470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786076086.39714408 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786076087.04676056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.71sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.73sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Received new action goal ×2 + 4.73sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Accepted new action goal ×2 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2).[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 6.000399 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 2.60sWARNros2_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 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1786076288.26447415 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 26 warnings · 375 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 + 0.04sINFOros2-6process has finished cleanly [pid 10225] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.104] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.105] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 10226] ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 10224] ×2 + 0.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.38sINFOros2-8process has finished cleanly [pid 10227] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.73sINFOros2-3process has finished cleanly [pid 10222] ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.6s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861980 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861980 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786076131.37390757 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786076131.96542215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786076132.02555847 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786076132.81829834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2).[0m ×2 + 6.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786076134.94842625 seconds ×3 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 29 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7).[0m ×2 + 0.88sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.89sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Got request to cancel active goal. ×2 + 0.89sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Canceling active goal... ×2 + 0.89sERRORobjective_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: 1786076300.32921600 seconds ×3 + 0.91sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.91sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.91sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.91sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.91sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.92sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.92sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.49sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076300.92557621 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 4.913870 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3).[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076302.37572265 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076302.97000551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.54sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.54sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076302.97212505 seconds ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076303.61701941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076303.61746550 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2).[0m ×2 + 4.48sWARNros2_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 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076304.20664740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5).[0m ×2 + 6.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076305.47677612 seconds ×3 + 6.09sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426157 ms (missed cycles : 4). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426157 ms (missed cycles : 4).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496764 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496764 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 2.60sWARNros2_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 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1786076288.26447415 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 139 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7).[0m ×2 + 1.46sINFOobjective_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 + 1.47sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Got request to cancel active goal. ×2 + 1.47sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Canceling active goal... ×2 + 1.48sERRORobjective_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: 1786076300.32921600 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076300.92557621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076302.37572265 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7).[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076302.97000551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.12sINFOobjective_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 + 4.12sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.12sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076302.97212505 seconds ×3 + 4.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076303.61701941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076303.61746550 seconds ×3 + 4.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2).[0m ×2 + 5.35sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076304.20664740 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.880365 ms (missed cycles : 5).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076305.47677612 seconds ×3 + 6.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426157 ms (missed cycles : 4). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426157 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786076085.69170952 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786076086.30701470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786076086.39714408 seconds ×3 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786076087.04676056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNros2_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 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2).[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 8.000582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_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 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786076085.69170952 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786076086.30701470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786076086.39714408 seconds ×3 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786076087.04676056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNros2_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 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786076085.69170952 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786076086.30701470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786076086.39714408 seconds ×3 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786076087.04676056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNros2_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 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.295958 ms (missed cycles : 8).[0m ×2 + 0.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Received new action goal ×2 + 0.47sINFOros2_control_node[2026-08-07 04:14:44.305] [info] Accepted new action goal ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167552 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786076085.69170952 seconds ×3 + 1.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.86sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 1.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786076086.30701470 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7). + 2.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942219 ms (missed cycles : 7).[0m ×2 + 2.56sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786076086.39714408 seconds ×3 + 3.21sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786076087.04676056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.26sWARNros2_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 + 3.32sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 3.32sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Received new action goal ×2 + 3.34sINFOros2_control_node[2026-08-07 04:14:47.171] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056228 ms (missed cycles : 5).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654440 ms (missed cycles : 3).[0m ×2 + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073439 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 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 4.861980 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861980 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082716 ms (missed cycles : 2).[0m ×2 + 1.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705115 ms (missed cycles : 2).[0m ×2 + 2.96sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786076131.37390757 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864714 ms (missed cycles : 3).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786076131.96542215 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786076132.02555847 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786076132.81829834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.53sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Accepted new action goal ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7).[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506219 ms (missed cycles : 3).[0m ×2 + 0.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786076132.81829834 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.39sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 0.39sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.40sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Received new action goal ×2 + 0.40sINFOros2_control_node[2026-08-07 04:15:32.942] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.287736 ms (missed cycles : 7).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726933 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786076134.94842625 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735366 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735366 ms (missed cycles : 3).[0m ×2 + 3.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786076136.54525018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223148 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223148 ms (missed cycles : 3).[0m ×2 + 4.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 4.48sINFOobjective_server_node[2026-08-07 04:15:37.020] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.30sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [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 + 5.30sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 5.50sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.01sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 6.01sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.15sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.20sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [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 + 6.21sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [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 + 6.21sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.22sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 6.57sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.59sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 6.59sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 0.19sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786076141.02618885 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786076141.71978951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 0.19sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786076141.02618885 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786076141.71978951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 12 errors · 23 warnings · 150 info |
+ 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.20sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×12 + 0.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3).[0m ×2 + 0.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076198.49081540 seconds ×3 + 0.82sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 0.82sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.07sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.07sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140390 ms (missed cycles : 2).[0m ×2 + 1.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076199.47311544 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sINFOobjective_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 + 1.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.73sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.73sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.73sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.73sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.83sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 1.83sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.83sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Received new action goal ×2 + 1.83sINFOros2_control_node[2026-08-07 04:16:39.626] [info] Accepted new action goal ×2 + 2.05sWARNros2_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 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.403398 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOobjective_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 + 3.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.17sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786076201.25015092 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750922 ms (missed cycles : 5).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786076201.87966037 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (3.09e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-07 04:16:42.043] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 04:16:42.043] [info] Accepted new action goal ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087935 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087935 ms (missed cycles : 4).[0m ×2 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005995 ms (missed cycles : 4). + 5.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.005995 ms (missed cycles : 4).[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093324 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093324 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 2.60sWARNros2_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 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1786076288.26447415 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.55sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 2.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.57sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 3.13sWARNros2_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 + 3.14sINFOobjective_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 + 3.15sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 3.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.329425 ms (missed cycles : 7).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 2.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.55sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 2.55sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.57sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 2.57sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 3.13sWARNros2_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 + 3.14sINFOobjective_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 + 3.15sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 3.15sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 3.17sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.18sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.18sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.18sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.18sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.70sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 4.70sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[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 8.000582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_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 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5).[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 8.000582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_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 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5).[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 8.000582 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.000582 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.357982 ms (missed cycles : 3).[0m ×2 + 1.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (6.83e-07 s). ×2 + 1.53sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Received new action goal ×2 + 1.54sINFOros2_control_node[2026-08-07 04:14:28.280] [info] Accepted new action goal ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.678401 ms (missed cycles : 5).[0m ×2 + 2.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.11sINFOobjective_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 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Got request to cancel active goal. ×2 + 2.12sINFOros2_control_node[2026-08-07 04:14:28.866] [info] Canceling active goal... ×2 + 2.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786076068.88169885 seconds ×3 + 2.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.15sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.15sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.74sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786076069.48382330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786076069.59395218 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739226 ms (missed cycles : 2).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786076070.22075009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.66sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 3.66sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Received new action goal ×2 + 3.67sINFOros2_control_node[2026-08-07 04:14:30.414] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315614 ms (missed cycles : 2).[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257188 ms (missed cycles : 3).[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.012517 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.509628 ms (missed cycles : 6).[0m ×2 + 1.01sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.14sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 1.14sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Received new action goal ×2 + 1.16sINFOros2_control_node[2026-08-07 04:14:55.259] [info] Accepted new action goal ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3). + 1.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640831 ms (missed cycles : 3).[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.060670 ms (missed cycles : 5).[0m ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Got request to cancel active goal. ×2 + 3.27sINFOros2_control_node[2026-08-07 04:14:57.367] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786076097.37066579 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.196394 ms (missed cycles : 5).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786076098.00705266 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.43e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:14:58.210] [info] Accepted new action goal ×2 + 4.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3). + 4.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.378139 ms (missed cycles : 3).[0m ×2 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548620 ms (missed cycles : 3).[0m ×2 + 5.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.398965 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 20 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288128 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288128 ms (missed cycles : 3).[0m ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (5.77e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00326284 s). ×2 + 0.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.58sINFOros2_control_node[2026-08-07 04:15:17.339] [info] Received new action goal ×2 + 0.58sINFOros2_control_node[2026-08-07 04:15:17.339] [info] Accepted new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 04:15:17.771] [info] Received new action goal ×2 + 1.01sINFOros2_control_node[2026-08-07 04:15:17.771] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733373 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733373 ms (missed cycles : 3).[0m ×2 + 1.32sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581141 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581141 ms (missed cycles : 3).[0m ×2 + 2.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.49sINFOobjective_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 + 2.50sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.50sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.50sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.50sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.50sERRORobjective_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: 1786076119.26764894 seconds ×3 + 2.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990446 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.990446 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786076120.13545561 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.53sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 3.54sINFOros2_control_node[2026-08-07 04:15:20.299] [info] Received new action goal ×2 + 3.54sINFOros2_control_node[2026-08-07 04:15:20.299] [info] Accepted new action goal ×2 + 3.77sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331466 ms (missed cycles : 4). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.331466 ms (missed cycles : 4).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159994 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159994 ms (missed cycles : 2).[0m ×2 + 6.05sINFOros2_control_node[2026-08-07 04:15:22.813] [info] Received new action goal ×2 + 6.05sINFOros2_control_node[2026-08-07 04:15:22.813] [info] Accepted new action goal ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 0.19sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786076141.02618885 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786076141.71978951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 0.19sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786076141.02618885 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786076141.71978951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 77 info |
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849418000 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.00sINFOobjective_server_node[0;93m2026-08-07 04:15:37.849458004 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5). + 0.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817311 ms (missed cycles : 5).[0m ×2 + 0.19sINFOobjective_server_node[2026-08-07 04:15:38.042] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552613797 [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 + 0.70sINFOobjective_server_node[0;93m2026-08-07 04:15:38.552642919 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-07 04:15:38.694] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.748974750 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752166902 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:15:38.752195660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.92sINFOobjective_server_node[2026-08-07 04:15:38.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009945 ms (missed cycles : 5).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-08-07 04:15:39.118555413 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140353868 [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 + 1.29sINFOobjective_server_node[0;93m2026-08-07 04:15:39.140381712 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839388 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786076141.02618885 seconds ×3 + 3.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.22sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.056007 ms (missed cycles : 2).[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786076141.71978951 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.95sINFOobjective_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 + 3.96sINFOobjective_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 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-08-07 04:15:42.138] [info] Accepted new action goal ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.602255 ms (missed cycles : 5).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010484 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833356 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 15 errors · 23 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.194081 ms (missed cycles : 11). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.194081 ms (missed cycles : 11).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216323 ms (missed cycles : 5). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.216323 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690204 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690204 ms (missed cycles : 2).[0m ×2 + 2.49sWARNros2_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 + 3.13sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786076194.76002717 seconds ×3 + 3.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.19sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.19sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909696 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909696 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786076195.41635752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.95sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-07 04:16:35.580] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950549 ms (missed cycles : 2).[0m ×2 + 5.21sINFOobjective_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 + 5.22sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.560174 ms (missed cycles : 4).[0m ×2 + 5.63sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×15 + 5.64sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157531 ms (missed cycles : 3).[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 6.682577 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.682577 ms (missed cycles : 5).[0m ×2 + 0.25sWARNros2_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 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082323 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082323 ms (missed cycles : 5).[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733411 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733411 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_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 + 2.66sINFOobjective_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 + 2.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.92sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 2.92sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786076212.69929481 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 2.95sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525061 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.525061 ms (missed cycles : 3).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786076213.41841865 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.65sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.65sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.72sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.72sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOobjective_server_nodeFound path in 70 iterations (0.0217969 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________________X___________________________________X] ×2 + 3.91sINFOros2_control_node[2026-08-07 04:16:53.684] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-07 04:16:53.684] [info] Accepted new action goal ×2 + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835955 ms (missed cycles : 5). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.835955 ms (missed cycles : 5).[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964521 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964521 ms (missed cycles : 2).[0m ×2 + 5.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761470 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761470 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924679 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924679 ms (missed cycles : 5).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.28sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786076244.97865629 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786076245.68031859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6).[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 7.924679 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924679 ms (missed cycles : 5).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.110109 ms (missed cycles : 8).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.711868 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 2.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.28sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786076244.97865629 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.30sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.30sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.30sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062445 ms (missed cycles : 4).[0m ×2 + 3.99sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786076245.68031859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.06e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.25sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-07 04:17:25.944] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925984 ms (missed cycles : 2).[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874563 ms (missed cycles : 4).[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.643500 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207819 ms (missed cycles : 2).[0m ×2 + 0.60sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Received new action goal ×2 + 0.61sINFOros2_control_node[2026-08-07 04:17:33.149] [info] Accepted new action goal ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.787674 ms (missed cycles : 5).[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.732706 ms (missed cycles : 2).[0m ×2 + 2.46sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.46sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Received new action goal ×2 + 2.47sINFOros2_control_node[2026-08-07 04:17:35.014] [info] Accepted new action goal ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371760 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_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 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Got request to cancel active goal. ×2 + 3.23sINFOros2_control_node[2026-08-07 04:17:35.770] [info] Canceling active goal... ×2 + 3.24sERRORobjective_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: 1786076255.78536963 seconds ×3 + 3.34sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786076256.52929306 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (3.65e-07 s). ×2 + 4.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-07 04:17:36.653] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.012992 ms (missed cycles : 5).[0m ×2 + 4.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.331231 ms (missed cycles : 2).[0m ×2 + 6.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006910 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 1.896079 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896079 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879729 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879729 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403336 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.403336 ms (missed cycles : 2).[0m ×2 + 2.58sINFOobjective_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 + 2.58sERRORobjective_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: 1786076266.75981593 seconds ×3 + 2.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.59sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.59sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.60sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.18sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786076267.35731316 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049048 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.049048 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.46sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 3.47sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.48sINFOros2_control_node[2026-08-07 04:17:47.662] [info] Received new action goal ×2 + 3.48sINFOros2_control_node[2026-08-07 04:17:47.662] [info] Accepted new action goal ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942409 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942409 ms (missed cycles : 5).[0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098815 ms (missed cycles : 4). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098815 ms (missed cycles : 4).[0m ×2 + 5.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.47 s); wrist_camera (1.47 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462341 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462341 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933422 ms (missed cycles : 6). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.933422 ms (missed cycles : 6).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911703 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.911703 ms (missed cycles : 5).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223684 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223684 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786076277.26469493 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786076277.92413282 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830111 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830111 ms (missed cycles : 2).[0m ×2 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.29sINFOros2_control_node[2026-08-07 04:17:58.058] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 04:17:58.058] [info] Accepted new action goal ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073528 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.073528 ms (missed cycles : 2).[0m ×2 + 6.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694334 ms (missed cycles : 5). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.694334 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 2.60sWARNros2_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 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1786076288.26447415 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 2.60sWARNros2_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 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1786076288.26447415 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.000399 ms (missed cycles : 4).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 2.60sWARNros2_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 + 2.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.76sERRORobjective_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: 1786076288.26447415 seconds ×3 + 2.77sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.77sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.77sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.77sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.77sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.77sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.78sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.78sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.78sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.42sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.43sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 4.04sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_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 + 4.07sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 4.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 1.51sWARNros2_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 + 1.67sINFOobjective_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 + 1.67sERRORobjective_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: 1786076288.26447415 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.75sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384156 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.180908 ms (missed cycles : 4).[0m ×2 + 1.51sWARNros2_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 + 1.67sINFOobjective_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 + 1.67sERRORobjective_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: 1786076288.26447415 seconds ×3 + 1.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.70sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.70sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336859 ms (missed cycles : 2).[0m ×2 + 2.28sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076288.86852741 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.32sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.32sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076288.95865870 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076289.55381274 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.98sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076289.57592273 seconds ×3 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103923 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076290.18439245 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.75sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-08-07 04:18:10.338] [info] Accepted new action goal ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548327 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.527664 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2).[0m ×2 + 1.51sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1786076300.32921600 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2).[0m ×2 + 3.19sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076300.92557621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076302.37572265 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076302.97000551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.63sINFOobjective_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 + 5.63sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.63sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076302.97212505 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076303.61701941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076303.61746550 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 133 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488082 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996254 ms (missed cycles : 2).[0m ×2 + 1.51sWARNros2_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 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.486880 ms (missed cycles : 7).[0m ×2 + 2.97sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Got request to cancel active goal. ×2 + 2.98sINFOros2_control_node[2026-08-07 04:18:20.324] [info] Canceling active goal... ×2 + 2.98sERRORobjective_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: 1786076300.32921600 seconds ×3 + 3.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.00sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706832 ms (missed cycles : 2).[0m ×2 + 3.19sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076300.92557621 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.913870 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076302.37572265 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.219730 ms (missed cycles : 7).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076302.97000551 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.63sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.63sINFOobjective_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 + 5.63sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.63sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076302.97212505 seconds ×3 + 6.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076303.61701941 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.27sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076303.61746550 seconds ×3 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277330 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.3s | 44 errors · 344 warnings · 1699 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/2026-08-07-04-09-30-604426-af040f238b40-8884 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 1.98sINFOros2_control_node-1process started with pid [8932] + 1.98sINFOmove_group-9process started with pid [8951] + 1.98sINFOparameter_manager_node-10process started with pid [8952] + 1.98sINFOwaypoint_manager_node-11process started with pid [8953] + 1.98sINFOmove_joint_resampler_node-12process started with pid [8954] + 1.98sINFOmove_end_effector_resampler_node-13process started with pid [8955] + 1.98sINFOobjective_server_node_main-14process started with pid [8956] + 1.98sINFOcomponent_container_mt-15process started with pid [8957] + 1.99sINFOcomponent_container_mt-16process started with pid [8958] + 2.00sINFOexecute_objective_bridge-17process started with pid [8959] + 2.00sINFOui_teleop_bridge-18process started with pid [8960] + 2.00sINFOweb_bridge-19process started with pid [8979] + 2.00sINFOtf2_web_republisher_node-20process started with pid [9034] + 2.00sINFOvideo_server-21process started with pid [9035] + 2.00sINFOweb_bridge_auth_proxy-22process started with pid [9045] + 2.00sINFOweb_video_auth_proxy-23process started with pid [9046] + 2.00sINFOros2-2process started with pid [8933] + 2.01sINFOros2-3process started with pid [8934] + 2.01sINFOros2-4process started with pid [8935] + 2.01sINFOros2-5process started with pid [8936] + 2.01sINFOros2-6process started with pid [8937] + 2.01sINFOros2-7process started with pid [8938] + 2.01sINFOros2-8process started with pid [8939] + 2.09sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×3 + 2.09sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×3 + 2.09sINFOros2_control_nodeupdate rate is 600 Hz[0m ×3 + 2.09sINFOros2_control_nodeOverruns handling is : enabled[0m ×3 + 2.09sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×3 + 2.09sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×3 + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.801227 ms (missed cycles : 5).[0m + 2.11sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 2.11sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 2.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 2.14sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 2.38sINFOvideo_server2026/08/07 04:09:33 INF MediaMTX v1.19.3, linux, amd64 + 2.38sINFOvideo_server2026/08/07 04:09:33 INF configuration loaded from /tmp/moveit-webrtc-p74ghe64/mediamtx.yml + 2.38sINFOvideo_server2026/08/07 04:09:33 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 2.38sINFOvideo_server2026/08/07 04:09:33 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 2.39sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 2.97sINFOmove_group[2026-08-07 04:09:34.330] [moveit_pro_license] [info] + 2.97sINFOmove_group************************************************* ×6 + 2.97sINFOmove_group* MoveIt Pro License ×3 + 2.97sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.280780 ms (missed cycles : 2).[0m + 3.16sINFOwaypoint_manager_node[2026-08-07 04:09:34.517] [moveit_pro_license] [info] + 3.16sINFOwaypoint_manager_node************************************************* ×6 + 3.16sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 3.16sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 3.27sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 3.38sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 3.43sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 3.44sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 3.45sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 3.45sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 3.46sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 3.46sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 3.46sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 3.47sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 3.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 3.57sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 3.65sINFOmove_group ×6 + 3.65sINFOmove_group[92mYou can start planning now![0m ×3 + 3.84sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439291 ms (missed cycles : 3).[0m + 4.67sINFOobjective_server_node[2026-08-07 04:09:36.035] [moveit_pro_license] [info] + 4.67sINFOobjective_server_node************************************************* ×8 + 4.67sINFOobjective_server_node* MoveIt Pro License ×4 + 4.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 4.79sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×3 + 4.79sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 4.80sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×3 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×3 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 4.80sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×3 + 4.80sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 4.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 5.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 5.28sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 5.49sINFOcomponent_container_mt[2026-08-07 04:09:36.853] [moveit_pro_license] [info] + 5.49sINFOcomponent_container_mt************************************************* ×6 + 5.49sINFOcomponent_container_mt* MoveIt Pro License ×3 + 5.49sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 5.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 5.58sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×3 + 5.58sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×3 + 5.58sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 5.58sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 5.58sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 5.58sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 5.58sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 5.58sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 5.58sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 5.59sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 5.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×3 + 5.60sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×3 + 5.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 5.71sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_on214e6h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hem00kr1 --params-file /tmp/launch_params_cb47tn5p [0m + 5.72sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×3 + 5.72sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×3 + 5.73sINFOros2_control_node[2026-08-07 04:09:37.088] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.73sINFOros2_control_node[2026-08-07 04:09:37.088] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. + 5.73sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×9 + 5.75sINFOros2_control_node[2026-08-07 04:09:37.116] [info] First order lag filter time constant set to: 0.2 seconds + 5.75sINFOros2_control_node[2026-08-07 04:09:37.116] [info] Controller state will be published at 50 Hz. + 5.76sINFOros2_control_node[2026-08-07 04:09:37.125] [info] Registered `FollowJointTrajectory` action server. + 6.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 6.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 6.05sINFOros2-6process has finished cleanly [pid 8937] + 6.06sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_on214e6h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hem00kr1 --params-file /tmp/launch_params_cb47tn5p [0m + 6.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 6.11sINFOros2_control_nodeconfigure successful[0m ×3 + 6.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 6.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×113 + 6.11sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 6.21sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 6.37sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×3 + 6.42sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 6.43sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 6.44sINFOros2-2process has finished cleanly [pid 8933] + 6.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_on214e6h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hem00kr1 --params-file /tmp/launch_params_cb47tn5p [0m + 6.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 6.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 6.57sINFOros2_control_node[2026-08-07 04:09:37.936] [info] Controller state will be published at 20 Hz. + 6.57sINFOros2_control_node[2026-08-07 04:09:37.937] [info] JointVelocityController 'on_configure' succeeded. + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479922 ms (missed cycles : 5).[0m + 6.85sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×3 + 6.92sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 6.92sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 6.92sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_on214e6h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hem00kr1 --params-file /tmp/launch_params_cb47tn5p [0m + 6.94sINFOros2-8process has finished cleanly [pid 8939] + 6.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×47 + 6.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×45 + 7.00sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 7.00sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 7.00sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×3 + 7.00sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 7.00sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 7.01sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×3 + 7.01sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 7.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×6 + 7.01sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×3 + 7.32sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×3 + 7.32sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×3 + 7.33sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_on214e6h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hem00kr1 --params-file /tmp/launch_params_cb47tn5p [0m + 7.33sINFOros2-5process has finished cleanly [pid 8936] + 7.34sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 7.37sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×3 + 7.37sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×3 + 7.37sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 7.37sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×3 + 7.38sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×3 + 7.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075778.99102044 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 7.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075779.00124955 seconds + 7.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×18 + 7.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 7.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×82 + 7.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×18 + 7.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×18 + 7.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 7.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 7.69sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_on214e6h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hem00kr1 --params-file /tmp/launch_params_cb47tn5p [0m + 7.72sINFOros2-3process has finished cleanly [pid 8934] + 7.73sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 7.73sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 7.74sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 7.74sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 7.75sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 7.86sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 8.07sINFOros2-4process has finished cleanly [pid 8935] + 8.08sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 8.08sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 8.16sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_on214e6h --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_hem00kr1 --params-file /tmp/launch_params_cb47tn5p [0m + 8.21sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 8.21sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 8.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786075779.59843397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 8.24sINFOros2_control_node[2026-08-07 04:09:39.598] [info] Controller state will be published at 10 Hz. + 8.24sINFOros2_control_node[2026-08-07 04:09:39.599] [info] VelocityForceController 'on_configure' succeeded. + 8.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×24 + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.744846 ms (missed cycles : 2).[0m + 8.56sINFOros2-7process has finished cleanly [pid 8938] + 9.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786075780.65859175 seconds + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041703 ms (missed cycles : 2).[0m + 9.89sWARNros2_control_nodeCamera render tick took 1.91 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 9.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786075781.27944994 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 9.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786075781.33959508 seconds + 10.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075782.02069402 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 10.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075782.04081750 seconds + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.907166 ms (missed cycles : 2).[0m + 11.16sWARNros2_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 + 11.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075782.63779235 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 11.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075782.78835130 seconds + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556103 ms (missed cycles : 2).[0m + 12.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075783.46731663 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.12sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m + 12.14sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: + 12.14sINFOobjective_server_nodeSimulation reset to 'default' keyframe. + 12.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075783.51749063 seconds + 12.76sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786075784.12852955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 12.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×4 + 12.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×7 + 12.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 12.78sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 12.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×7 + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.518390 ms (missed cycles : 7).[0m + 12.88sINFOobjective_server_nodeFound path in 0 iterations (2.4033e-05 s). + 12.88sINFOobjective_server_nodePath shortcutter: [X_______X] ×5 + 12.90sINFOros2_control_node[2026-08-07 04:09:44.266] [info] Received new action goal + 12.90sINFOros2_control_node[2026-08-07 04:09:44.266] [info] Accepted new action goal + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471280 ms (missed cycles : 2).[0m + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.864303 ms (missed cycles : 3).[0m + 15.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×38 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). + 15.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 15.42sINFOros2_control_node[2026-08-07 04:09:46.786] [info] Received new action goal + 15.42sINFOros2_control_node[2026-08-07 04:09:46.786] [info] Accepted new action goal + 15.61sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081346 ms (missed cycles : 2).[0m + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193350 ms (missed cycles : 2).[0m + 17.29sWARNros2_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 + 18.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786071 ms (missed cycles : 3).[0m + 19.14sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). + 19.16sINFOros2_control_node[2026-08-07 04:09:50.523] [info] Received new action goal + 19.16sINFOros2_control_node[2026-08-07 04:09:50.523] [info] Accepted new action goal + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.847129 ms (missed cycles : 2).[0m + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292157 ms (missed cycles : 2).[0m + 21.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773413 ms (missed cycles : 2).[0m + 22.47sINFOobjective_server_nodeFound path in 0 iterations (2.99e-07 s). + 22.47sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 22.49sINFOros2_control_node[2026-08-07 04:09:53.857] [info] Received new action goal + 22.49sINFOros2_control_node[2026-08-07 04:09:53.857] [info] Accepted new action goal + 22.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697781 ms (missed cycles : 2).[0m + 22.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 22.91sINFOros2_control_node[2026-08-07 04:09:54.279] [info] Got request to cancel active goal. + 22.92sINFOros2_control_node[2026-08-07 04:09:54.279] [info] Canceling active goal... + 22.93sERRORobjective_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: 1786075794.29055953 seconds + 22.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×26 + 23.00sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×26 + 23.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×26 + 23.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×3 + 23.58sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786075794.94218206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 23.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540008 ms (missed cycles : 2).[0m + 23.69sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786075795.05232310 seconds + 24.32sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786075795.68045330 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 24.52sINFOobjective_server_nodeFound path in 0 iterations (2.57e-07 s). + 24.52sINFOobjective_server_nodePath shortcutter: [X______X] ×5 + 24.53sINFOros2_control_node[2026-08-07 04:09:55.894] [info] Received new action goal + 24.53sINFOros2_control_node[2026-08-07 04:09:55.894] [info] Accepted new action goal + 24.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674082 ms (missed cycles : 4).[0m + 25.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526046 ms (missed cycles : 3).[0m + 26.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.985819 ms (missed cycles : 5).[0m + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074279 ms (missed cycles : 4).[0m + 28.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.276721 ms (missed cycles : 5).[0m + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467587 ms (missed cycles : 6).[0m + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.893203 ms (missed cycles : 3).[0m + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.316418 ms (missed cycles : 5).[0m + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.777915 ms (missed cycles : 3).[0m + 33.28sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 33.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×4 + 33.57sINFOobjective_server_nodeFound path in 0 iterations (2.55e-07 s). + 33.58sINFOobjective_server_nodePath shortcutter: [X__________X] ×5 + 33.59sINFOobjective_server_nodeFound path in 0 iterations (2.62e-07 s). + 33.61sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). + 33.65sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 33.67sINFOobjective_server_nodeFound path in 1 iterations (0.00310056 s). + 33.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 33.86sINFOros2_control_node[2026-08-07 04:10:05.219] [info] Received new action goal + 33.86sINFOros2_control_node[2026-08-07 04:10:05.219] [info] Accepted new action goal + 34.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042802 ms (missed cycles : 2).[0m + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.788319 ms (missed cycles : 3).[0m + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.040082 ms (missed cycles : 2).[0m + 36.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×7 + 36.33sINFOros2_control_node[2026-08-07 04:10:07.695] [info] Received new action goal + 36.33sINFOros2_control_node[2026-08-07 04:10:07.695] [info] Accepted new action goal + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.604560 ms (missed cycles : 4).[0m + 38.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×11 + 38.18sINFOobjective_server_nodePlanning for 2 path waypoints. ×9 + 38.19sINFOros2_control_node[2026-08-07 04:10:09.557] [info] Received new action goal + 38.19sINFOros2_control_node[2026-08-07 04:10:09.557] [info] Accepted new action goal + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.159117 ms (missed cycles : 5).[0m + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.251725 ms (missed cycles : 4).[0m + 39.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786075810.94366813 seconds + 40.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786075811.55532122 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 40.28sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786075811.64545369 seconds + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879319 ms (missed cycles : 2).[0m + 40.92sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786075812.28465676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 41.03sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). + 41.03sINFOobjective_server_nodePath shortcutter: [X_____________X] + 41.05sINFOros2_control_node[2026-08-07 04:10:12.412] [info] Received new action goal + 41.05sINFOros2_control_node[2026-08-07 04:10:12.412] [info] Accepted new action goal + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.286659 ms (missed cycles : 5).[0m + 42.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813567 ms (missed cycles : 3).[0m + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690373 ms (missed cycles : 2).[0m + 44.39sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 44.39sINFOros2_control_node[2026-08-07 04:10:15.759] [info] Received new action goal + 44.40sINFOros2_control_node[2026-08-07 04:10:15.759] [info] Accepted new action goal + 44.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.119547 ms (missed cycles : 2).[0m + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060787 ms (missed cycles : 4).[0m + 46.73sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). + 46.74sINFOros2_control_node[2026-08-07 04:10:18.106] [info] Received new action goal + 46.74sINFOros2_control_node[2026-08-07 04:10:18.106] [info] Accepted new action goal + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778081 ms (missed cycles : 2).[0m + 48.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896986 ms (missed cycles : 3).[0m + 49.08sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). + 49.09sINFOros2_control_node[2026-08-07 04:10:20.456] [info] Received new action goal + 49.09sINFOros2_control_node[2026-08-07 04:10:20.456] [info] Accepted new action goal + 49.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404743 ms (missed cycles : 4).[0m + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142579 ms (missed cycles : 3).[0m + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825821 ms (missed cycles : 5).[0m + 51.41sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). + 51.42sERRORobjective_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: 1786075822.78069711 seconds + 52.06sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786075823.42233372 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 52.25sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 52.26sINFOros2_control_node[2026-08-07 04:10:23.626] [info] Received new action goal + 52.26sINFOros2_control_node[2026-08-07 04:10:23.626] [info] Accepted new action goal + 52.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.610840 ms (missed cycles : 5).[0m + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710899 ms (missed cycles : 3).[0m + 54.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902150 ms (missed cycles : 2).[0m + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.593698 ms (missed cycles : 4).[0m + 55.96sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). + 55.97sINFOobjective_server_nodeFound path in 0 iterations (2.08e-07 s). + 55.98sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 55.99sINFOobjective_server_nodeFound path in 0 iterations (2.72e-07 s). + 56.09sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 56.12sINFOobjective_server_nodeFound path in 1 iterations (0.00379677 s). + 56.22sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 56.25sINFOobjective_server_nodeFound path in 1 iterations (0.004504 s). + 56.36sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 56.38sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). + 56.49sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 56.51sINFOobjective_server_nodeFound path in 0 iterations (2.59e-07 s). ×2 + 56.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 56.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260498 ms (missed cycles : 5).[0m + 56.78sINFOros2_control_node[2026-08-07 04:10:28.139] [info] Received new action goal + 56.78sINFOros2_control_node[2026-08-07 04:10:28.139] [info] Accepted new action goal + 57.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.379606 ms (missed cycles : 4).[0m + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.091997 ms (missed cycles : 5).[0m + 59.22sINFOparameter_manager_nodeRetrieving pose from parameter manager. + 59.47sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m + 59.48sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server + 59.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786075830.87089014 seconds + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526927 ms (missed cycles : 2).[0m + 60.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.543259 ms (missed cycles : 4).[0m + 61.12sWARNros2_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 + 62.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282416 ms (missed cycles : 2).[0m + 62.93sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786075834.29929495 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 63.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865705 ms (missed cycles : 3).[0m + 63.12sINFOobjective_server_nodeFound path in 0 iterations (3.22e-07 s). + 63.13sINFOros2_control_node[2026-08-07 04:10:34.493] [info] Received new action goal + 63.13sINFOros2_control_node[2026-08-07 04:10:34.493] [info] Accepted new action goal + 64.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383570 ms (missed cycles : 3).[0m + 65.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.339346 ms (missed cycles : 9).[0m + 66.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547730 ms (missed cycles : 3).[0m + 66.95sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). + 66.96sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). + 66.97sINFOobjective_server_nodeFound path in 0 iterations (2.01e-07 s). + 67.04sINFOobjective_server_nodeFound path in 0 iterations (2.05e-07 s). + 67.10sINFOobjective_server_nodeFound path in 1 iterations (0.00359646 s). + 67.22sINFOobjective_server_nodeFound path in 1 iterations (0.00435905 s). + 67.24sWARNros2_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 ×3 + 67.33sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 67.45sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). + 67.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.072036 ms (missed cycles : 6).[0m + 67.67sINFOros2_control_node[2026-08-07 04:10:39.036] [info] Received new action goal + 67.67sINFOros2_control_node[2026-08-07 04:10:39.036] [info] Accepted new action goal + 68.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444084 ms (missed cycles : 3).[0m + 69.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.197619 ms (missed cycles : 5).[0m + 70.37sINFOobjective_server_nodeFound path in 0 iterations (2.35e-07 s). + 70.37sINFOobjective_server_nodePath shortcutter: [X_X] + 70.38sINFOobjective_server_nodeFound path in 0 iterations (4.34e-07 s). + 70.38sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 70.40sINFOobjective_server_nodeFound path in 0 iterations (7.95e-07 s). + 70.47sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] + 70.51sINFOobjective_server_nodeFound path in 1 iterations (0.00494047 s). + 70.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] + 70.74sINFOros2_control_node[2026-08-07 04:10:42.107] [info] Received new action goal + 70.74sINFOros2_control_node[2026-08-07 04:10:42.107] [info] Accepted new action goal + 70.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.430230 ms (missed cycles : 7).[0m + 71.18sINFOros2_control_node[2026-08-07 04:10:42.539] [info] Received new action goal + 71.18sINFOros2_control_node[2026-08-07 04:10:42.539] [info] Accepted new action goal + 71.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828369 ms (missed cycles : 2).[0m + 72.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.861368 ms (missed cycles : 2).[0m + 73.31sINFOros2_control_nodeGot request to cancel goal[0m + 73.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m + 73.32sERRORobjective_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: 1786075844.68276501 seconds + 73.34sWARNros2_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 ×3 + 74.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845978 ms (missed cycles : 3).[0m + 74.14sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786075845.50281334 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 74.26sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). + 74.27sINFOros2_control_node[2026-08-07 04:10:45.636] [info] Received new action goal + 74.27sINFOros2_control_node[2026-08-07 04:10:45.636] [info] Accepted new action goal + 75.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.223895 ms (missed cycles : 5).[0m + 75.60sINFOros2_control_nodeMuJoCo sim: 0.36% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 76.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129241 ms (missed cycles : 3).[0m + 77.07sINFOros2_control_node[2026-08-07 04:10:48.430] [info] Received new action goal + 77.07sINFOros2_control_node[2026-08-07 04:10:48.430] [info] Accepted new action goal + 77.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.859703 ms (missed cycles : 5).[0m + 78.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948201 ms (missed cycles : 3).[0m + 79.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506467 ms (missed cycles : 3).[0m + 80.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.621809 ms (missed cycles : 4).[0m + 81.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515990 ms (missed cycles : 3).[0m + 82.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078078 ms (missed cycles : 4).[0m + 83.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.083592 ms (missed cycles : 8).[0m + 84.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.029267 ms (missed cycles : 6).[0m + 85.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786075857.00152802 seconds + 85.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938457 ms (missed cycles : 2).[0m + 86.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786075857.65992928 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 86.33sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 86.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 86.34sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 86.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786075857.72006202 seconds + 86.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630268 ms (missed cycles : 4).[0m + 86.96sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786075858.31962848 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 87.06sINFOobjective_server_nodeFound path in 0 iterations (4.83e-07 s). + 87.07sINFOros2_control_node[2026-08-07 04:10:58.433] [info] Received new action goal + 87.07sINFOros2_control_node[2026-08-07 04:10:58.433] [info] Accepted new action goal + 87.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.545905 ms (missed cycles : 3).[0m + 89.08sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786075860.43977714 seconds + 89.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301104 ms (missed cycles : 2).[0m + 90.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915758 ms (missed cycles : 5).[0m + 90.46sWARNros2_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 ×3 + 90.67sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786075862.03817654 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 91.39sINFOobjective_server_node[2026-08-07 04:11:02.755] [info] Selected ONNX execution provider: CUDAExecutionProvider + 91.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228629 ms (missed cycles : 2).[0m + 92.15sINFOobjective_server_node[0;93m2026-08-07 04:11:03.517568975 [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 + 92.15sINFOobjective_server_node[0;93m2026-08-07 04:11:03.517601660 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 92.36sINFOobjective_server_node[2026-08-07 04:11:03.722] [info] Selected ONNX execution provider: CUDAExecutionProvider + 92.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.445748 ms (missed cycles : 2).[0m + 92.84sINFOobjective_server_node[0;93m2026-08-07 04:11:04.209365899 [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 + 92.85sINFOobjective_server_node[0;93m2026-08-07 04:11:04.209397186 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 92.98sINFOobjective_server_node[2026-08-07 04:11:04.348] [info] Selected ONNX execution provider: CUDAExecutionProvider + 93.04sINFOobjective_server_node[0;93m2026-08-07 04:11:04.402871472 [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 + 93.04sINFOobjective_server_node[0;93m2026-08-07 04:11:04.406538272 [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 + 93.04sINFOobjective_server_node[0;93m2026-08-07 04:11:04.406567738 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 93.06sINFOobjective_server_node[2026-08-07 04:11:04.424] [info] Selected ONNX execution provider: CUDAExecutionProvider + 93.47sINFOobjective_server_node[0;93m2026-08-07 04:11:04.836502713 [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 + 93.50sINFOobjective_server_node[0;93m2026-08-07 04:11:04.865901284 [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 + 93.50sINFOobjective_server_node[0;93m2026-08-07 04:11:04.865933415 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m + 93.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133661 ms (missed cycles : 4).[0m + 94.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380216 ms (missed cycles : 3).[0m + 95.53sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786075866.89649558 seconds + 95.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876437 ms (missed cycles : 3).[0m + 96.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786075867.60754395 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 96.32sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 + 96.33sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 + 96.62sINFOobjective_server_nodeFound path in 0 iterations (1.77e-07 s). + 96.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 96.66sINFOros2_control_node[2026-08-07 04:11:08.025] [info] Received new action goal + 96.66sINFOros2_control_node[2026-08-07 04:11:08.025] [info] Accepted new action goal + 96.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.843984 ms (missed cycles : 2).[0m + 97.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198923 ms (missed cycles : 5).[0m + 99.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282010 ms (missed cycles : 4).[0m + 99.53sINFOobjective_server_nodeFound path in 0 iterations (3.57e-07 s). + 99.55sINFOros2_control_node[2026-08-07 04:11:10.912] [info] Received new action goal + 99.55sINFOros2_control_node[2026-08-07 04:11:10.912] [info] Accepted new action goal +100.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477984 ms (missed cycles : 4).[0m +101.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.065300 ms (missed cycles : 2).[0m +102.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288614 ms (missed cycles : 3).[0m +102.72sINFOros2_control_node[2026-08-07 04:11:14.085] [info] Received new action goal +102.72sINFOros2_control_node[2026-08-07 04:11:14.085] [info] Accepted new action goal +103.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.362713 ms (missed cycles : 4).[0m +104.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.090915 ms (missed cycles : 3).[0m +105.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902793 ms (missed cycles : 2).[0m +105.74sINFOros2_control_node[2026-08-07 04:11:17.105] [info] Received new action goal +105.74sINFOros2_control_node[2026-08-07 04:11:17.105] [info] Accepted new action goal +106.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401074 ms (missed cycles : 2).[0m +108.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319816 ms (missed cycles : 2).[0m +108.71sINFOobjective_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 +108.71sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×3 +108.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 +108.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 +108.71sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×3 +109.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735444 ms (missed cycles : 3).[0m +110.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.326119 ms (missed cycles : 5).[0m +111.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709652 ms (missed cycles : 2).[0m +112.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744516 ms (missed cycles : 3).[0m +113.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623516 ms (missed cycles : 2).[0m +114.38sWARNros2_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 +114.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185892 ms (missed cycles : 2).[0m +115.47sINFOobjective_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 +115.47sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×3 +115.47sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×3 +115.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.241591 ms (missed cycles : 3).[0m +116.40sINFOros2_control_node[2026-08-07 04:11:27.761] [info] Received new action goal +116.40sINFOros2_control_node[2026-08-07 04:11:27.761] [info] Accepted new action goal +116.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700796 ms (missed cycles : 3).[0m +117.56sINFOobjective_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 +117.57sINFOobjective_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 +117.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.418241 ms (missed cycles : 6).[0m +117.86sINFOobjective_server_nodeFound path in 0 iterations (3.41e-07 s). +117.86sINFOobjective_server_nodePath shortcutter: [X___________X] +117.90sINFOros2_control_node[2026-08-07 04:11:29.264] [info] Received new action goal +117.90sINFOros2_control_node[2026-08-07 04:11:29.264] [info] Accepted new action goal +118.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.411273 ms (missed cycles : 2).[0m +119.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.764915 ms (missed cycles : 6).[0m +120.05sINFOros2_control_node[2026-08-07 04:11:31.412] [info] Received new action goal +120.05sINFOros2_control_node[2026-08-07 04:11:31.412] [info] Accepted new action goal +120.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.234328 ms (missed cycles : 5).[0m +121.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.503188 ms (missed cycles : 5).[0m +123.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.777696 ms (missed cycles : 2).[0m +123.09sINFOros2_control_node[2026-08-07 04:11:34.451] [info] Received new action goal +123.09sINFOros2_control_node[2026-08-07 04:11:34.451] [info] Accepted new action goal +124.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889276 ms (missed cycles : 3).[0m +125.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.689041 ms (missed cycles : 4).[0m +125.68sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). +125.73sINFOros2_control_node[2026-08-07 04:11:37.095] [info] Received new action goal +125.73sINFOros2_control_node[2026-08-07 04:11:37.095] [info] Accepted new action goal +126.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.406145 ms (missed cycles : 6).[0m +127.46sWARNros2_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 +127.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767866 ms (missed cycles : 3).[0m +128.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.813078 ms (missed cycles : 3).[0m +129.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.171874 ms (missed cycles : 5).[0m +130.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.166880 ms (missed cycles : 4).[0m +131.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147616 ms (missed cycles : 2).[0m +132.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570054 ms (missed cycles : 2).[0m +133.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630851 ms (missed cycles : 2).[0m +135.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.092955 ms (missed cycles : 4).[0m +135.61sINFOros2_control_nodeMuJoCo sim: 0.39% of iterations over time budget. Below 1% expected for non-realtime.[0m +136.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913191 ms (missed cycles : 2).[0m +137.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320109 ms (missed cycles : 2).[0m +137.50sWARNros2_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 +137.99sINFOros2_control_node[2026-08-07 04:11:49.351] [info] Received new action goal +137.99sINFOros2_control_node[2026-08-07 04:11:49.351] [info] Accepted new action goal +138.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231753 ms (missed cycles : 2).[0m +139.17sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786075910.53777027 seconds +139.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867047 ms (missed cycles : 3).[0m +140.13sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786075911.48827958 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +140.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781275 ms (missed cycles : 2).[0m +141.30sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 +141.31sINFOobjective_server_nodePath shortcutter: [X__________________________X] +141.32sINFOros2_control_node[2026-08-07 04:11:52.683] [info] Received new action goal +141.32sINFOros2_control_node[2026-08-07 04:11:52.683] [info] Accepted new action goal +141.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.129584 ms (missed cycles : 5).[0m +142.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.552884 ms (missed cycles : 6).[0m +143.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209656 ms (missed cycles : 5).[0m +144.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.177847 ms (missed cycles : 5).[0m +146.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.060000 ms (missed cycles : 4).[0m +147.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750453 ms (missed cycles : 4).[0m +147.41sINFOobjective_server_nodeFound path in 0 iterations (2.86e-07 s). +147.42sINFOobjective_server_nodePath shortcutter: [X________________________X] +147.43sINFOros2_control_node[2026-08-07 04:11:58.793] [info] Received new action goal +147.43sINFOros2_control_node[2026-08-07 04:11:58.793] [info] Accepted new action goal +148.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.572095 ms (missed cycles : 4).[0m +149.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478620 ms (missed cycles : 6).[0m +150.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.837107 ms (missed cycles : 3).[0m +151.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786075922.39856648 seconds +151.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.317656 ms (missed cycles : 3).[0m +151.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786075922.99707699 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +151.80sINFOobjective_server_nodePath shortcutter: [X___X] ×3 +151.82sINFOros2_control_node[2026-08-07 04:12:03.180] [info] Received new action goal +151.82sINFOros2_control_node[2026-08-07 04:12:03.180] [info] Accepted new action goal +152.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001741 ms (missed cycles : 2).[0m +153.08sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 +153.09sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 +153.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×3 +153.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.523224 ms (missed cycles : 4).[0m +153.49sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×8 +153.50sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×7 +154.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.241484 ms (missed cycles : 2).[0m +154.70sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786075926.06670618 seconds +155.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786075926.70164871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +155.48sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). +155.49sINFOros2_control_node[2026-08-07 04:12:06.855] [info] Received new action goal +155.49sINFOros2_control_node[2026-08-07 04:12:06.855] [info] Accepted new action goal +155.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016887 ms (missed cycles : 2).[0m +156.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.805200 ms (missed cycles : 2).[0m +157.08sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786075928.43655181 seconds +157.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.664268 ms (missed cycles : 6).[0m +157.79sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786075929.15673614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +157.95sINFOobjective_server_nodeFound path in 0 iterations (3.12e-07 s). +157.95sINFOobjective_server_nodePath shortcutter: [X_____X] +157.97sINFOros2_control_node[2026-08-07 04:12:09.331] [info] Received new action goal +157.97sINFOros2_control_node[2026-08-07 04:12:09.331] [info] Accepted new action goal +158.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648619 ms (missed cycles : 3).[0m +159.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501705 ms (missed cycles : 3).[0m +160.55sINFOros2_control_node[2026-08-07 04:12:11.910] [info] Received new action goal +160.55sINFOros2_control_node[2026-08-07 04:12:11.910] [info] Accepted new action goal +160.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.530397 ms (missed cycles : 5).[0m +161.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.478833 ms (missed cycles : 6).[0m +162.47sINFOros2_control_node[2026-08-07 04:12:13.836] [info] Received new action goal +162.47sINFOros2_control_node[2026-08-07 04:12:13.836] [info] Accepted new action goal +162.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742383 ms (missed cycles : 3).[0m +163.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m +164.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.658989 ms (missed cycles : 4).[0m +165.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.882218 ms (missed cycles : 6).[0m +166.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.646985 ms (missed cycles : 2).[0m +167.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481976 ms (missed cycles : 3).[0m +167.97sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786075939.33837366 seconds +168.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.878711 ms (missed cycles : 2).[0m +168.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786075939.99100399 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +168.83sINFOobjective_server_nodeFound path in 5 iterations (0.00710377 s). +168.90sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] +168.91sINFOros2_control_node[2026-08-07 04:12:20.277] [info] Received new action goal +168.91sINFOros2_control_node[2026-08-07 04:12:20.277] [info] Accepted new action goal +169.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349692 ms (missed cycles : 2).[0m +170.24sWARNros2_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 +170.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.930058 ms (missed cycles : 5).[0m +171.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.625549 ms (missed cycles : 3).[0m +172.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.042165 ms (missed cycles : 4).[0m +173.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.870510 ms (missed cycles : 3).[0m +174.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930945 ms (missed cycles : 2).[0m +175.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201648 ms (missed cycles : 4).[0m +176.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 +176.48sINFOobjective_server_node[2026-08-07 04:12:27.844] [info] Selected ONNX execution provider: CUDAExecutionProvider +176.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.360615 ms (missed cycles : 9).[0m +177.20sINFOobjective_server_node[0;m[0;93m2026-08-07 04:12:28.567127749 [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 +177.20sINFOobjective_server_node[0;93m2026-08-07 04:12:28.567158513 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +177.39sINFOobjective_server_node[2026-08-07 04:12:28.752] [info] Selected ONNX execution provider: CUDAExecutionProvider +177.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905307 ms (missed cycles : 2).[0m +177.93sINFOobjective_server_node[0;93m2026-08-07 04:12:29.291588270 [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 +177.93sINFOobjective_server_node[0;93m2026-08-07 04:12:29.291619286 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +178.04sINFOobjective_server_node[2026-08-07 04:12:29.408] [info] Selected ONNX execution provider: CUDAExecutionProvider +178.11sINFOobjective_server_node[0;93m2026-08-07 04:12:29.476129379 [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 +178.12sINFOobjective_server_node[0;93m2026-08-07 04:12:29.480538164 [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 +178.12sINFOobjective_server_node[0;93m2026-08-07 04:12:29.480560709 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +178.13sINFOobjective_server_node[2026-08-07 04:12:29.496] [info] Selected ONNX execution provider: CUDAExecutionProvider +178.50sINFOobjective_server_node[0;93m2026-08-07 04:12:29.863632369 [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 +178.52sINFOobjective_server_node[0;93m2026-08-07 04:12:29.885730030 [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 +178.52sINFOobjective_server_node[0;93m2026-08-07 04:12:29.885761770 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m +178.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787977 ms (missed cycles : 3).[0m +179.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.679465 ms (missed cycles : 6).[0m +181.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261630 ms (missed cycles : 4).[0m +182.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340605 ms (missed cycles : 2).[0m +183.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.273291 ms (missed cycles : 4).[0m +184.32sINFOobjective_server_nodeFound path in 4 iterations (0.00401161 s). +184.40sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] +184.44sINFOobjective_server_nodeFound path in 14 iterations (0.00855093 s). +184.48sINFOobjective_server_nodePath shortcutter: [X_________________________X_____________X_______________X] +184.51sINFOobjective_server_nodeFound path in 2 iterations (0.00455988 s). +184.55sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] +184.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.080482 ms (missed cycles : 7).[0m +184.58sINFOobjective_server_nodeFound path in 0 iterations (9.17e-07 s). +184.62sINFOobjective_server_nodePath shortcutter: [X____________________________________X] +184.64sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). +184.67sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] +184.70sINFOobjective_server_nodeFound path in 12 iterations (0.00520393 s). +184.76sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] +184.79sINFOobjective_server_nodeFound path in 1 iterations (0.00594698 s). +184.84sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] +184.86sINFOobjective_server_nodeFound path in 0 iterations (2.28e-07 s). ×2 +184.91sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] +184.94sINFOobjective_server_nodeFound path in 4 iterations (0.00821333 s). +185.08sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X_____________X] +185.14sINFOobjective_server_nodeFound path in 41 iterations (0.0237765 s). +185.25sINFOobjective_server_nodePath shortcutter: [X________________________________X_X________________________________________X] +185.30sINFOobjective_server_nodeFound path in 1 iterations (0.00825377 s). +185.38sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] +185.42sINFOobjective_server_nodeFound path in 0 iterations (2.48e-07 s). +185.48sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] +185.53sINFOobjective_server_nodeFound path in 26 iterations (0.0201009 s). +185.66sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________________X] +185.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471590 ms (missed cycles : 2).[0m +185.79sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] +185.82sINFOobjective_server_nodeFound path in 0 iterations (1.94e-07 s). +185.92sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] +185.96sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). +186.10sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] +186.33sINFOros2_control_node[2026-08-07 04:12:37.690] [info] Received new action goal +186.33sINFOros2_control_node[2026-08-07 04:12:37.690] [info] Accepted new action goal +186.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570770 ms (missed cycles : 2).[0m +187.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373125 ms (missed cycles : 2).[0m +188.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m +188.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822515 ms (missed cycles : 2).[0m +189.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.075247 ms (missed cycles : 5).[0m +190.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363548 ms (missed cycles : 3).[0m +191.32sINFOros2_control_node[2026-08-07 04:12:42.683] [info] Received new action goal +191.32sINFOros2_control_node[2026-08-07 04:12:42.683] [info] Accepted new action goal +192.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.945784 ms (missed cycles : 2).[0m +192.95sINFOros2_control_node[2026-08-07 04:12:44.314] [info] Received new action goal +192.95sINFOros2_control_node[2026-08-07 04:12:44.314] [info] Accepted new action goal +193.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.897062 ms (missed cycles : 5).[0m +194.08sWARNros2_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 +194.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769899 ms (missed cycles : 3).[0m +194.16sWARNobjective_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. +194.16sINFOobjective_server_nodePlanning for 4 path waypoints. +194.19sINFOros2_control_node[2026-08-07 04:12:45.556] [info] Received new action goal +194.19sINFOros2_control_node[2026-08-07 04:12:45.556] [info] Accepted new action goal +195.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.838953 ms (missed cycles : 3).[0m +195.61sINFOros2_control_nodeMuJoCo sim: 0.38% of iterations over time budget. Below 1% expected for non-realtime.[0m +196.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.249348 ms (missed cycles : 4).[0m +197.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.576532 ms (missed cycles : 7).[0m +198.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.037399 ms (missed cycles : 7).[0m +199.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m +199.38sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786075970.74120021 seconds +199.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366248 ms (missed cycles : 4).[0m +200.12sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786075971.48186445 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +200.33sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). +200.34sINFOros2_control_node[2026-08-07 04:12:51.706] [info] Received new action goal +200.34sINFOros2_control_node[2026-08-07 04:12:51.706] [info] Accepted new action goal +200.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491142 ms (missed cycles : 2).[0m +201.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298945 ms (missed cycles : 2).[0m +202.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.666596 ms (missed cycles : 3).[0m +203.92sINFOobjective_server_nodeFound path in 0 iterations (4.4e-07 s). +203.93sINFOobjective_server_nodeFound path in 0 iterations (2.25e-07 s). +203.94sINFOobjective_server_nodeFound path in 0 iterations (5.61e-07 s). +203.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.942792 ms (missed cycles : 5).[0m +204.01sINFOobjective_server_nodeFound path in 1 iterations (0.00311022 s). +204.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +204.17sINFOros2_control_node[2026-08-07 04:12:55.539] [info] Received new action goal +204.17sINFOros2_control_node[2026-08-07 04:12:55.539] [info] Accepted new action goal +204.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080590 ms (missed cycles : 3).[0m +206.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.988532 ms (missed cycles : 6).[0m +206.65sINFOros2_control_node[2026-08-07 04:12:58.011] [info] Received new action goal +206.65sINFOros2_control_node[2026-08-07 04:12:58.011] [info] Accepted new action goal +207.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706524 ms (missed cycles : 2).[0m +208.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209525 ms (missed cycles : 3).[0m +208.51sINFOros2_control_node[2026-08-07 04:12:59.876] [info] Received new action goal +208.51sINFOros2_control_node[2026-08-07 04:12:59.876] [info] Accepted new action goal +209.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.689631 ms (missed cycles : 2).[0m +209.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786075981.26209021 seconds +210.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.898545 ms (missed cycles : 3).[0m +210.98sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786075982.34681106 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +211.17sINFOros2_control_node[2026-08-07 04:13:02.531] [info] Received new action goal +211.17sINFOros2_control_node[2026-08-07 04:13:02.531] [info] Accepted new action goal +211.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.076774 ms (missed cycles : 5).[0m +212.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131311 ms (missed cycles : 2).[0m +213.08sINFOobjective_server_nodePlanning for 9 path waypoints. ×2 +213.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.504352 ms (missed cycles : 2).[0m +214.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.761399 ms (missed cycles : 4).[0m +215.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.598041 ms (missed cycles : 2).[0m +216.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389252 ms (missed cycles : 2).[0m +217.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m +217.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365154 ms (missed cycles : 4).[0m +218.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291656 ms (missed cycles : 2).[0m +219.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724438 ms (missed cycles : 2).[0m +221.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674270 ms (missed cycles : 2).[0m +221.31sERRORobjective_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: 1786075992.67765617 seconds +221.97sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786075993.33789563 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +222.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811092 ms (missed cycles : 2).[0m +222.27sINFOobjective_server_nodeFound path in 0 iterations (1.0742e-05 s). +222.30sINFOros2_control_node[2026-08-07 04:13:13.667] [info] Received new action goal +222.30sINFOros2_control_node[2026-08-07 04:13:13.667] [info] Accepted new action goal +222.45sWARNros2_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 +223.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710925 ms (missed cycles : 2).[0m +224.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.974769 ms (missed cycles : 5).[0m +225.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.521752 ms (missed cycles : 6).[0m +226.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613765 ms (missed cycles : 3).[0m +226.32sINFOros2_control_node[2026-08-07 04:13:17.687] [info] Received new action goal +226.32sINFOros2_control_node[2026-08-07 04:13:17.687] [info] Accepted new action goal +227.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.988769 ms (missed cycles : 3).[0m +228.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.770660 ms (missed cycles : 2).[0m +229.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.541227 ms (missed cycles : 4).[0m +230.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458300 ms (missed cycles : 4).[0m +231.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953518 ms (missed cycles : 3).[0m +231.91sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786076003.27183366 seconds +232.52sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786076003.88603497 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +232.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.857033 ms (missed cycles : 6).[0m +232.64sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). +232.66sINFOros2_control_node[2026-08-07 04:13:24.020] [info] Received new action goal +232.66sINFOros2_control_node[2026-08-07 04:13:24.020] [info] Accepted new action goal +233.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632159 ms (missed cycles : 4).[0m +234.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091069 ms (missed cycles : 4).[0m +235.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.084351 ms (missed cycles : 5).[0m +236.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357472 ms (missed cycles : 2).[0m +237.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.992175 ms (missed cycles : 4).[0m +238.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125698 ms (missed cycles : 4).[0m +240.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564309 ms (missed cycles : 3).[0m +241.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.630153 ms (missed cycles : 4).[0m +241.28sWARNros2_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 ×3 +242.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544604 ms (missed cycles : 3).[0m +242.81sERRORobjective_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: 1786076014.17632890 seconds +243.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.549259 ms (missed cycles : 3).[0m +243.47sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786076014.82871008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +243.54sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786076014.90885043 seconds +244.13sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786076015.49599028 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +244.15sINFOobjective_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 '' +244.15sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786076015.51830816 seconds +244.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928502 ms (missed cycles : 3).[0m +244.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786076016.21636653 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +244.96sINFOobjective_server_nodeFound path in 0 iterations (2.47e-07 s). +244.98sINFOros2_control_node[2026-08-07 04:13:36.340] [info] Received new action goal +244.98sINFOros2_control_node[2026-08-07 04:13:36.340] [info] Accepted new action goal +245.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854403 ms (missed cycles : 2).[0m +246.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675896 ms (missed cycles : 3).[0m +247.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.660144 ms (missed cycles : 3).[0m +248.27sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds +248.28sINFOros2_control_node[2026-08-07 04:13:39.640] [info] Received new action goal +248.28sINFOros2_control_node[2026-08-07 04:13:39.640] [info] Accepted new action goal +248.28sINFOros2_control_node[2026-08-07 04:13:39.640] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 +248.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128314 ms (missed cycles : 4).[0m +249.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027786 ms (missed cycles : 2).[0m +250.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.297558 ms (missed cycles : 4).[0m +251.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.734110 ms (missed cycles : 2).[0m +252.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089613 ms (missed cycles : 2).[0m +253.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.081982 ms (missed cycles : 5).[0m +254.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.929615 ms (missed cycles : 3).[0m +255.31sINFOros2_control_node[2026-08-07 04:13:46.676] [info] Got request to cancel active goal. +255.31sINFOros2_control_node[2026-08-07 04:13:46.676] [info] Canceling active goal... +255.32sERRORobjective_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: 1786076026.68090916 seconds +255.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168821 ms (missed cycles : 4).[0m +255.91sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076027.27755618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +256.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076027.72767925 seconds +256.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712531 ms (missed cycles : 2).[0m +256.97sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786076028.33293414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +256.97sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default +256.97sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. +256.97sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. +256.97sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786076028.33474922 seconds +257.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786076029.04761219 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +257.68sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786076029.04821324 seconds +257.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393816 ms (missed cycles : 3).[0m +258.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076029.64053178 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +258.81sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076030.17065907 seconds +258.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +260.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546534 ms (missed cycles : 3).[0m +260.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.637050 ms (missed cycles : 5).[0m +261.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.170701 ms (missed cycles : 4).[0m +262.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729093 ms (missed cycles : 2).[0m +263.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.947115 ms (missed cycles : 6).[0m +264.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389825 ms (missed cycles : 2).[0m +265.03sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.04sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.04sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.04sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.04sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.05sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.05sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] +265.06sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.06sERRORweb_video_auth_proxy-23process has died [pid 9046, 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']. +265.06sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.06sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.07sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.07sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] +265.08sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.08sERRORweb_bridge_auth_proxy-22process has died [pid 9045, 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']. +265.08sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.09sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.09sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.09sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.10sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +265.10sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] +265.11sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] +265.13sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] +265.14sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] +265.15sINFOvideo_server-21process has finished cleanly [pid 9035] +265.15sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] +265.17sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] +265.18sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] +265.19sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] +265.20sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] +265.21sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system +265.22sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] +265.23sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] +265.25sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] +265.26sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] +265.28sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] +265.28sINFOvideo_server2026/08/07 04:13:56 INF shutting down gracefully +265.28sINFOvideo_server2026/08/07 04:13:56 INF [WebRTC] closing +265.28sINFOvideo_server2026/08/07 04:13:56 INF [RTSP] closing +265.28sINFOvideo_server2026/08/07 04:13:56 INF waiting for running hooks +265.28sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +265.28sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +265.29sERRORmove_group-9process has died [pid 8951, 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_dhnx1kti --params-file /tmp/launch_params_e0rzqpzq --params-file /tmp/launch_params_qm_nv6ym --params-file /tmp/launch_params_x5cud51t --params-file /tmp/launch_params_ggcdj32l --params-file /tmp/launch_params_y5dz2s58']. +265.29sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +265.29sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' +265.29sERRORmove_groupwhat(): context cannot be slept with because it's invalid +265.29sERRORmove_groupStack trace (most recent call last) in thread 9278: +265.29sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in +265.29sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fba2a84ea63, in __clone +265.29sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fba2a7c1aa3, in +265.29sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fba2aa53db3, in +265.29sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fba2b1bfed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() +265.29sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fba2ade5620, in rclcpp::Rate::sleep() +265.29sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fba2ad27d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) +265.29sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fba2ace9087, in +265.29sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fba2aa22390, in __cxa_throw +265.29sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fba2aa0ca54, in std::terminate() +265.29sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fba2aa220d9, in +265.29sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fba2aa0cff4, in +265.29sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fba2a74d8fe, in abort +265.29sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fba2a76a27d, in raise +265.29sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fba2a7c3b2c, in pthread_kill +265.29sERRORmove_groupAborted (Signal sent by tkill() 8951 0) +265.29sWARNparameter_manager_nodeROS node was shutdown. +265.30sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +265.30sINFOros2_control_nodeShutdown request received....[0m +265.30sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +265.30sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +265.30sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m +265.30sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m +265.30sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +265.30sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +265.30sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +265.30sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +265.30sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +265.30sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +265.30sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m +265.30sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m +265.30sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +265.30sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +265.30sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +265.30sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +265.30sINFOros2_control_nodeShutting down the controller manager.[0m +265.30sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +265.50sINFOros2_control_nodeAsync messages lost 0[0m ×2 +265.50sINFOros2_control_nodepublish_async_failures_ 3[0m +265.50sINFOros2_control_nodepublish_async_failures_ 2[0m +266.17sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9034] +266.17sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system +266.25sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8955] +266.26sINFOui_teleop_bridge-18process has finished cleanly [pid 8960] +266.26sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8954] +266.27sINFOexecute_objective_bridge-17process has finished cleanly [pid 8959] +266.28sINFOcomponent_container_mt-16process has finished cleanly [pid 8958] +266.31sINFOwaypoint_manager_node-11process has finished cleanly [pid 8953] +266.34sINFOparameter_manager_node-10process has finished cleanly [pid 8952] +266.37sINFOobjective_server_node[0;m[2026-08-07 04:13:57.737] [moveit_pro_license] [info] +266.37sINFOobjective_server_node* Application has successfully terminated +266.88sINFOobjective_server_node_main-14process has finished cleanly [pid 8956] +266.88sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system +267.38sINFOcomponent_container_mt-15process has finished cleanly [pid 8957] +267.66sINFOweb_bridge-19process has finished cleanly [pid 8979] +267.66sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system +267.93sINFOros2_control_node-1process has finished cleanly [pid 8932] +273.53sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-07-04-14-04-144883-af040f238b40-10172 ×2 +275.36sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +275.38sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +275.38sINFOcontroller_managerupdate rate is 600 Hz +275.38sINFOcontroller_managerOverruns handling is : enabled +275.38sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +275.38sWARNcontroller_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. +275.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870551 ms (missed cycles : 2). +275.57sINFOros2_control_node-1process started with pid [10220] ×2 +275.58sINFOmove_group-9process started with pid [10257] ×2 +275.58sINFOparameter_manager_node-10process started with pid [10258] ×2 +275.58sINFOwaypoint_manager_node-11process started with pid [10259] ×2 +275.58sINFOmove_joint_resampler_node-12process started with pid [10260] ×2 +275.58sINFOmove_end_effector_resampler_node-13process started with pid [10261] ×2 +275.58sINFOobjective_server_node_main-14process started with pid [10262] ×2 +275.58sINFOcomponent_container_mt-15process started with pid [10263] ×2 +275.58sINFOcomponent_container_mt-16process started with pid [10264] ×2 +275.58sINFOexecute_objective_bridge-17process started with pid [10265] ×2 +275.58sINFOui_teleop_bridge-18process started with pid [10266] ×2 +275.60sINFOweb_bridge-19process started with pid [10267] ×2 +275.60sINFOtf2_web_republisher_node-20process started with pid [10331] ×2 +275.60sINFOvideo_server-21process started with pid [10332] ×2 +275.60sINFOweb_bridge_auth_proxy-22process started with pid [10333] ×2 +275.60sINFOweb_video_auth_proxy-23process started with pid [10334] ×2 +275.60sINFOros2-2process started with pid [10221] ×2 +275.60sINFOros2-3process started with pid [10222] ×2 +275.60sINFOros2-4process started with pid [10223] ×2 +275.60sINFOros2-5process started with pid [10224] ×2 +275.60sINFOros2-6process started with pid [10225] ×2 +275.60sINFOros2-7process started with pid [10226] ×2 +275.60sINFOros2-8process started with pid [10227] ×2 +275.63sINFOcontroller_managerReceived robot description from topic. +275.63sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +275.66sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +275.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870551 ms (missed cycles : 2).[0m ×2 +276.32sINFOvideo_server2026/08/07 04:14:07 INF MediaMTX v1.19.3, linux, amd64 ×2 +276.32sINFOvideo_server2026/08/07 04:14:07 INF configuration loaded from /tmp/moveit-webrtc-p491cx50/mediamtx.yml ×2 +276.33sINFOvideo_server2026/08/07 04:14:07 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +276.33sINFOvideo_server2026/08/07 04:14:07 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +276.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022451 ms (missed cycles : 4). +276.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022451 ms (missed cycles : 4).[0m ×2 +276.83sINFOmove_group[2026-08-07 04:14:08.192] [moveit_pro_license] [info] ×2 +276.94sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +276.94sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +276.98sINFOwaypoint_manager_node[2026-08-07 04:14:08.348] [moveit_pro_license] [info] ×2 +277.28sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... +277.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566256 ms (missed cycles : 3). +277.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566256 ms (missed cycles : 3).[0m ×2 +278.25sINFOobjective_server_node[2026-08-07 04:14:09.613] [moveit_pro_license] [info] ×2 +278.76sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +279.04sINFOcomponent_container_mt[2026-08-07 04:14:10.399] [moveit_pro_license] [info] ×2 +279.14sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +279.14sINFOcontroller_managerActivating component 'ur_mujoco_control'. +279.14sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +279.14sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +279.29sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +279.29sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +279.29sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk +279.29sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 +279.30sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +279.31sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +279.31sINFOforce_torque_sensor_broadcasterconfigure successful +279.31sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +279.32sINFOcontroller_managerSuccessfully switched controllers! ×12 +279.32sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +279.62sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +279.62sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +279.64sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk +279.65sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 +279.65sINFOros2-2process has finished cleanly [pid 10221] ×2 +279.69sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +279.69sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +279.69sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +279.70sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +279.71sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +280.00sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' +280.00sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' +280.06sINFOros2-4process has finished cleanly [pid 10223] ×2 +280.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718503 ms (missed cycles : 3). +280.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718503 ms (missed cycles : 3).[0m ×2 +280.13sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk +280.13sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 +280.19sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m +280.19sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' +280.19sINFOros2_control_node[2026-08-07 04:14:11.552] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +280.19sINFOros2_control_node[2026-08-07 04:14:11.552] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 +280.22sINFOros2_control_node[2026-08-07 04:14:11.586] [info] First order lag filter time constant set to: 0.2 seconds ×2 +280.22sINFOros2_control_node[2026-08-07 04:14:11.586] [info] Controller state will be published at 50 Hz. ×2 +280.23sINFOros2_control_node[2026-08-07 04:14:11.592] [info] Registered `FollowJointTrajectory` action server. ×2 +280.56sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +280.56sINFOcontroller_managerLoading controller 'velocity_force_controller' +280.60sINFOros2-6process has finished cleanly [pid 10225] ×2 +280.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk +280.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 +280.69sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +280.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +280.74sINFOros2_control_node[2026-08-07 04:14:12.104] [info] Controller state will be published at 10 Hz. ×2 +280.74sINFOros2_control_node[2026-08-07 04:14:12.105] [info] VelocityForceController 'on_configure' succeeded. ×2 +281.06sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +281.06sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +281.06sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk +281.07sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 +281.08sINFOros2-7process has finished cleanly [pid 10226] ×2 +281.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +281.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +281.14sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. +281.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +281.14sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +281.15sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 +281.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +281.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] +281.18sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m +281.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). +281.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 +281.44sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +281.44sINFOcontroller_managerLoading controller 'joint_velocity_controller' +281.49sINFOros2-5process has finished cleanly [pid 10224] ×2 +281.51sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk +281.51sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 +281.55sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +281.55sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +281.58sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 +281.58sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 +281.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' +281.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' +281.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk +281.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 +281.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +281.94sINFOros2-8process has finished cleanly [pid 10227] ×2 +281.95sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m +281.96sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' +281.96sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. +281.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] +281.97sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m +282.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +282.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 +282.05sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +282.05sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +282.05sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 +282.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +282.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 +282.29sINFOros2-3process has finished cleanly [pid 10222] ×2 +282.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). +282.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 +282.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +282.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 +283.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). +283.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 +283.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 +284.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +284.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 +284.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). +284.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 +285.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +285.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 +285.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). +285.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 +285.64sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +285.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 26 warnings · 287 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 10227] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.38sINFOros2-3process has finished cleanly [pid 10222] ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 2.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_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 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.41sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 7.26sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 29 warnings · 305 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.06sINFOros2-5process has finished cleanly [pid 10224] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.51sINFOros2-8process has finished cleanly [pid 10227] ×2 + 0.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 0.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.86sINFOros2-3process has finished cleanly [pid 10222] ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 3.16sWARNros2_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 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_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 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.1s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 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/2026-08-07-04-14-04-144883-af040f238b40-10172 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.85sINFOcontroller_managerupdate rate is 600 Hz + 1.85sINFOcontroller_managerOverruns handling is : enabled + 1.85sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.85sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870551 ms (missed cycles : 2). + 2.04sINFOros2_control_node-1process started with pid [10220] ×2 + 2.04sINFOmove_group-9process started with pid [10257] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [10258] ×2 + 2.04sINFOwaypoint_manager_node-11process started with pid [10259] ×2 + 2.04sINFOmove_joint_resampler_node-12process started with pid [10260] ×2 + 2.04sINFOmove_end_effector_resampler_node-13process started with pid [10261] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [10262] ×2 + 2.04sINFOcomponent_container_mt-15process started with pid [10263] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [10264] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [10265] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [10266] ×2 + 2.07sINFOweb_bridge-19process started with pid [10267] ×2 + 2.07sINFOtf2_web_republisher_node-20process started with pid [10331] ×2 + 2.07sINFOvideo_server-21process started with pid [10332] ×2 + 2.07sINFOweb_bridge_auth_proxy-22process started with pid [10333] ×2 + 2.07sINFOweb_video_auth_proxy-23process started with pid [10334] ×2 + 2.07sINFOros2-2process started with pid [10221] ×2 + 2.07sINFOros2-3process started with pid [10222] ×2 + 2.07sINFOros2-4process started with pid [10223] ×2 + 2.07sINFOros2-5process started with pid [10224] ×2 + 2.07sINFOros2-6process started with pid [10225] ×2 + 2.07sINFOros2-7process started with pid [10226] ×2 + 2.07sINFOros2-8process started with pid [10227] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.11sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.13sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×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 2.870551 ms (missed cycles : 2).[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 + 2.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.25sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.79sINFOvideo_server2026/08/07 04:14:07 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.79sINFOvideo_server2026/08/07 04:14:07 INF configuration loaded from /tmp/moveit-webrtc-p491cx50/mediamtx.yml ×2 + 2.80sINFOvideo_server2026/08/07 04:14:07 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.80sINFOvideo_server2026/08/07 04:14:07 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022451 ms (missed cycles : 4). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.022451 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 23 warnings · 375 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 + 0.04sINFOros2-6process has finished cleanly [pid 10225] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.104] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.105] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 10226] ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 10224] ×2 + 0.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.38sINFOros2-8process has finished cleanly [pid 10227] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.73sINFOros2-3process has finished cleanly [pid 10222] ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 23 warnings · 375 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 + 0.04sINFOros2-6process has finished cleanly [pid 10225] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.104] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.105] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 10226] ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 10224] ×2 + 0.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.38sINFOros2-8process has finished cleanly [pid 10227] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.73sINFOros2-3process has finished cleanly [pid 10222] ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 23 warnings · 375 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 + 0.04sINFOros2-6process has finished cleanly [pid 10225] ×2 + 0.08sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.08sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.104] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-07 04:14:12.105] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.50sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.50sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.52sINFOros2-7process has finished cleanly [pid 10226] ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.61sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.61sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.61sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.61sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 + 0.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 10224] ×2 + 0.95sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.95sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.99sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.99sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.35sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.35sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.35sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.35sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 1.35sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 1.36sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.38sINFOros2-8process has finished cleanly [pid 10227] ×2 + 1.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.73sINFOros2-3process has finished cleanly [pid 10222] ×2 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 2.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 3.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 4.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 5.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.96sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.96sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.98sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.98sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 6.62sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.63sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.63sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 26 warnings · 305 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064705 ms (missed cycles : 4).[0m ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.06sINFOros2-5process has finished cleanly [pid 10224] ×2 + 0.08sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.08sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.13sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.13sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.15sINFOros2_control_node[2026-08-07 04:14:12.944] [info] Controller state will be published at 20 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-07 04:14:12.945] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.48sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.48sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.48sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.51sINFOros2-8process has finished cleanly [pid 10227] ×2 + 0.53sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.53sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.53sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.54sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.54sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.60sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.61sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 0.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.62sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.62sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.86sINFOros2-3process has finished cleanly [pid 10222] ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 2.88sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 3.16sWARNros2_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 + 3.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.10sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.11sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.11sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 5.75sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_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 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.89sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 5.89sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 26 warnings · 282 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_jpwx3pew --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ew5mr8e6 --params-file /tmp/launch_params_7l3cf0mk [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.03sINFOros2-8process has finished cleanly [pid 10227] ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.06sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786076053.39314795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786076053.40332270 seconds ×3 + 0.14sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.14sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.14sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.14sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.15sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.15sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.38sINFOros2-3process has finished cleanly [pid 10222] ×2 + 0.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4). + 0.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.395602 ms (missed cycles : 4).[0m ×2 + 0.72sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786076053.99207664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 1.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 1.78sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 2.40sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 2.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 2.68sWARNros2_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 + 3.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_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 + 5.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.39sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.41sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 5.41sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | track_moving_frame.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[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 | 23 warnings · 227 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.30sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 6.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.32sINFOros2_control_node[2026-08-07 04:14:21.200] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-08-07 04:14:21.200] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861140 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.861140 ms (missed cycles : 5).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[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 | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 20 warnings · 216 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.961500 ms (missed cycles : 5).[0m ×2 + 0.17sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786076055.05225825 seconds ×3 + 0.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 0.20sINFOcontroller_managerSuccessfully switched controllers! ×13 + 0.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 0.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.22sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.22sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.79sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786076055.67346573 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.85sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786076055.73363829 seconds ×3 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441837 ms (missed cycles : 2).[0m ×2 + 1.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786076056.38645458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786076056.40658259 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671601 ms (missed cycles : 2).[0m ×2 + 2.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786076057.00625777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786076057.15680289 seconds ×3 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786076057.87158418 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.00sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.00sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786076057.92171144 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.174625 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786076058.54569936 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.68sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.68sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.78sINFOobjective_server_nodeFound path in 0 iterations (3.8076e-05 s). ×2 + 3.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-07 04:14:18.682] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737922 ms (missed cycles : 3).[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176760 ms (missed cycles : 3).[0m ×2 + 5.65sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||