MoveIt Pro Objective Integration Tests

116

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

7.9s

Avg test time

100%

Objective pass rate

Show INFO/DEBUG

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives

30 pass53 skip

✓ passed	Move Flasks to Burners	move_flasks_to_burners.xml	42.6s	163 warnings · 297 info
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.85sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.93sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-07 04:48:43.191334589 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212951997 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212983569 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786078125.12979865 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786078125.84011054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.03sINFOobjective_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 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5).[0m ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×6 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903449 ms (missed cycles : 5). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.903449 ms (missed cycles : 5).[0m ×2 + 7.23sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 7.25sINFOros2_control_node[2026-08-07 04:48:49.144] [info] Received new action goal ×2 + 7.25sINFOros2_control_node[2026-08-07 04:48:49.144] [info] Accepted new action goal ×2 + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137168 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.137168 ms (missed cycles : 2).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186202 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186202 ms (missed cycles : 3).[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029802 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.029802 ms (missed cycles : 4).[0m ×2 + 10.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.42sINFOros2_control_node[2026-08-07 04:48:52.314] [info] Received new action goal ×2 + 10.42sINFOros2_control_node[2026-08-07 04:48:52.314] [info] Accepted new action goal ×2 + 11.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227478 ms (missed cycles : 2). + 11.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227478 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038333 ms (missed cycles : 4). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.038333 ms (missed cycles : 4).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (4.66e-07 s). ×2 + 13.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.43sINFOros2_control_node[2026-08-07 04:48:55.327] [info] Received new action goal ×2 + 13.43sINFOros2_control_node[2026-08-07 04:48:55.327] [info] Accepted new action goal ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041915 ms (missed cycles : 2). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041915 ms (missed cycles : 2).[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883507 ms (missed cycles : 5). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.883507 ms (missed cycles : 5).[0m ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743847 ms (missed cycles : 5). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.743847 ms (missed cycles : 5).[0m ×2 + 16.39sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.39sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.39sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.39sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.39sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516998 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.516998 ms (missed cycles : 2).[0m ×2 + 18.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458574 ms (missed cycles : 2). + 18.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.458574 ms (missed cycles : 2).[0m ×2 + 19.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481073 ms (missed cycles : 2). + 19.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.481073 ms (missed cycles : 2).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092529 ms (missed cycles : 2). + 20.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092529 ms (missed cycles : 2).[0m ×2 + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411611 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.411611 ms (missed cycles : 3).[0m ×2 + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276841 ms (missed cycles : 4). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276841 ms (missed cycles : 4).[0m ×2 + 23.23sINFOobjective_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 + 23.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.23sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.23sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.23sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.23sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481362 ms (missed cycles : 3). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481362 ms (missed cycles : 3).[0m ×2 + 24.11sINFOros2_control_node[2026-08-07 04:49:06.003] [info] Received new action goal ×2 + 24.11sINFOros2_control_node[2026-08-07 04:49:06.003] [info] Accepted new action goal ×2 + 25.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178063 ms (missed cycles : 2). + 25.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.178063 ms (missed cycles : 2).[0m ×2 + 25.27sINFOobjective_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 + 25.29sINFOobjective_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 + 25.56sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 25.56sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.60sINFOros2_control_node[2026-08-07 04:49:07.497] [info] Received new action goal ×2 + 25.60sINFOros2_control_node[2026-08-07 04:49:07.497] [info] Accepted new action goal ×2 + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682877 ms (missed cycles : 5). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682877 ms (missed cycles : 5).[0m ×2 + 27.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833904 ms (missed cycles : 3). + 27.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.833904 ms (missed cycles : 3).[0m ×2 + 27.74sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 27.74sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.75sINFOros2_control_node[2026-08-07 04:49:09.644] [info] Received new action goal ×2 + 27.75sINFOros2_control_node[2026-08-07 04:49:09.644] [info] Accepted new action goal ×2 + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357514 ms (missed cycles : 3). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357514 ms (missed cycles : 3).[0m ×2 + 28.88sWARNros2_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 + 29.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957718 ms (missed cycles : 6). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.957718 ms (missed cycles : 6).[0m ×2 + 30.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329674 ms (missed cycles : 3). + 30.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329674 ms (missed cycles : 3).[0m ×2 + 30.77sINFOros2_control_node[2026-08-07 04:49:12.664] [info] Received new action goal ×2 + 30.77sINFOros2_control_node[2026-08-07 04:49:12.664] [info] Accepted new action goal ×2 + 31.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086362 ms (missed cycles : 2). + 31.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086362 ms (missed cycles : 2).[0m ×2 + 32.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050577 ms (missed cycles : 2). + 32.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.050577 ms (missed cycles : 2).[0m ×2 + 33.37sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 33.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.41sINFOros2_control_node[2026-08-07 04:49:15.308] [info] Received new action goal ×2 + 33.41sINFOros2_control_node[2026-08-07 04:49:15.308] [info] Accepted new action goal ×2 + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002645 ms (missed cycles : 2). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002645 ms (missed cycles : 2).[0m ×2 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983558 ms (missed cycles : 3). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.983558 ms (missed cycles : 3).[0m ×2 + 34.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 36.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537796 ms (missed cycles : 2). + 36.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537796 ms (missed cycles : 2).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488670 ms (missed cycles : 2). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.488670 ms (missed cycles : 2).[0m ×2 + 38.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322428 ms (missed cycles : 4). + 38.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.322428 ms (missed cycles : 4).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442130 ms (missed cycles : 4). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.442130 ms (missed cycles : 4).[0m ×2 + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865259 ms (missed cycles : 5). + 40.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.865259 ms (missed cycles : 5).[0m ×2 + 41.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491021 ms (missed cycles : 3). + 41.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491021 ms (missed cycles : 3).[0m ×2 + 42.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682414 ms (missed cycles : 3). + 42.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682414 ms (missed cycles : 3).[0m ×2 + 43.44sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303395 ms (missed cycles : 4). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303395 ms (missed cycles : 4).[0m ×2 + 44.14sINFOros2_control_node[2026-08-07 04:49:26.034] [info] Received new action goal ×2 + 44.14sINFOros2_control_node[2026-08-07 04:49:26.034] [info] Accepted new action goal ×2 + 44.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204261 ms (missed cycles : 4). + 44.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204261 ms (missed cycles : 4).[0m ×2 + 45.29sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786078167.19032097 seconds ×3 + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619925 ms (missed cycles : 4). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619925 ms (missed cycles : 4).[0m ×2 + 46.60sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786078168.49544764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515394 ms (missed cycles : 3). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515394 ms (missed cycles : 3).[0m ×2 + 47.78sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 47.79sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.81sINFOros2_control_node[2026-08-07 04:49:29.700] [info] Received new action goal ×2 + 47.81sINFOros2_control_node[2026-08-07 04:49:29.700] [info] Accepted new action goal ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805529 ms (missed cycles : 3). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805529 ms (missed cycles : 3).[0m ×2 + 48.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547536 ms (missed cycles : 6). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547536 ms (missed cycles : 6).[0m ×2
✓ passed	Pick 1 Pill Bottle with SAM3	pick_1_pill_bottle_with_sam3.xml	32.1s	3 errors · 126 warnings · 255 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145762 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145762 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546251 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546251 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568224 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568224 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_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 + 3.10sINFOobjective_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 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323981 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323981 ms (missed cycles : 3).[0m ×2 + 3.36sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786078196.76187491 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786078197.40693736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 5 iterations (0.00865342 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.406861 ms (missed cycles : 7). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.406861 ms (missed cycles : 7).[0m ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.33sINFOros2_control_node[2026-08-07 04:49:57.735] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-07 04:49:57.735] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774500 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774500 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799668 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799668 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434845 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.434845 ms (missed cycles : 5).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905532 ms (missed cycles : 2). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905532 ms (missed cycles : 2).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221529 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221529 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548954 ms (missed cycles : 4). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.548954 ms (missed cycles : 4).[0m ×2 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842262 ms (missed cycles : 4). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.842262 ms (missed cycles : 4).[0m ×2 + 11.63sWARNros2_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 + 11.79sINFOobjective_server_node[2026-08-07 04:50:05.196] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.50sINFOobjective_server_node[0;m[0;93m2026-08-07 04:50:05.899786132 [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 + 12.50sINFOobjective_server_node[0;93m2026-08-07 04:50:05.899815852 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.67sINFOobjective_server_node[2026-08-07 04:50:06.070] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.509557 ms (missed cycles : 6). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.509557 ms (missed cycles : 6).[0m ×2 + 13.15sINFOobjective_server_node[0;93m2026-08-07 04:50:06.551371466 [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 + 13.15sINFOobjective_server_node[0;93m2026-08-07 04:50:06.551402766 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.26sINFOobjective_server_node[2026-08-07 04:50:06.666] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.32sINFOobjective_server_node[0;93m2026-08-07 04:50:06.724488591 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.33sINFOobjective_server_node[0;93m2026-08-07 04:50:06.727481696 [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 + 13.33sINFOobjective_server_node[0;93m2026-08-07 04:50:06.727503057 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.34sINFOobjective_server_node[2026-08-07 04:50:06.743] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 13.72sINFOobjective_server_node[0;93m2026-08-07 04:50:07.117271648 [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 + 13.74sINFOobjective_server_node[0;93m2026-08-07 04:50:07.139007538 [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 + 13.74sINFOobjective_server_node[0;93m2026-08-07 04:50:07.139038681 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533270 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533270 ms (missed cycles : 2).[0m ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960183 ms (missed cycles : 4). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960183 ms (missed cycles : 4).[0m ×2 + 15.15sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092932 ms (missed cycles : 3). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092932 ms (missed cycles : 3).[0m ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379809 ms (missed cycles : 6). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.379809 ms (missed cycles : 6).[0m ×2 + 17.38sWARNros2_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 + 18.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582574 ms (missed cycles : 5). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.582574 ms (missed cycles : 5).[0m ×2 + 19.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326578 ms (missed cycles : 2). + 19.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326578 ms (missed cycles : 2).[0m ×2 + 20.46sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.328301 ms (missed cycles : 6). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.328301 ms (missed cycles : 6).[0m ×2 + 20.79sINFOobjective_server_nodeFound path in 4 iterations (0.00314639 s). ×2 + 20.87sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.90sINFOobjective_server_nodeFound path in 13 iterations (0.00568867 s). ×2 + 20.97sINFOobjective_server_nodePath shortcutter: [X_________________________________X__________________________X] ×2 + 21.00sINFOobjective_server_nodeFound path in 2 iterations (0.00466737 s). ×2 + 21.04sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 21.07sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 21.10sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 21.12sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 21.15sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 21.18sINFOobjective_server_nodeFound path in 12 iterations (0.00499583 s). ×2 + 21.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 21.27sINFOobjective_server_nodeFound path in 1 iterations (0.00425176 s). ×2 + 21.33sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 21.35sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 21.40sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.42sINFOobjective_server_nodeFound path in 4 iterations (0.00536672 s). ×2 + 21.52sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.54sINFOobjective_server_nodeFound path in 4 iterations (0.0032236 s). ×2 + 21.64sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 21.67sINFOobjective_server_nodeFound path in 1 iterations (0.00637362 s). ×2 + 21.74sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 21.77sINFOobjective_server_nodeFound path in 26 iterations (0.0131564 s). ×2 + 21.86sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X_____________________X] ×2 + 21.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249647 ms (missed cycles : 3). + 21.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249647 ms (missed cycles : 3).[0m ×2 + 21.90sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 21.94sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.96sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 22.03sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X] ×2 + 22.06sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 22.15sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 22.18sINFOobjective_server_nodeFound path in 0 iterations (4.18e-07 s). ×2 + 22.27sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 22.46sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 22.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.49sINFOros2_control_node[2026-08-07 04:50:15.896] [info] Received new action goal ×2 + 22.49sINFOros2_control_node[2026-08-07 04:50:15.896] [info] Accepted new action goal ×2 + 22.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188263 ms (missed cycles : 3). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.188263 ms (missed cycles : 3).[0m ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358069 ms (missed cycles : 6). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358069 ms (missed cycles : 6).[0m ×2 + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031834 ms (missed cycles : 5). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031834 ms (missed cycles : 5).[0m ×2 + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.634478 ms (missed cycles : 6). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.634478 ms (missed cycles : 6).[0m ×2 + 27.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818392 ms (missed cycles : 2). + 27.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818392 ms (missed cycles : 2).[0m ×2 + 27.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 27.50sINFOros2_control_node[2026-08-07 04:50:20.900] [info] Received new action goal ×2 + 27.50sINFOros2_control_node[2026-08-07 04:50:20.900] [info] Accepted new action goal ×2 + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721933 ms (missed cycles : 2). + 28.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721933 ms (missed cycles : 2).[0m ×2 + 29.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 29.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 29.03sINFOros2_control_node[2026-08-07 04:50:22.432] [info] Received new action goal ×2 + 29.03sINFOros2_control_node[2026-08-07 04:50:22.432] [info] Accepted new action goal ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170868 ms (missed cycles : 3). + 29.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170868 ms (missed cycles : 3).[0m ×2 + 30.24sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 30.24sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 30.27sINFOros2_control_node[2026-08-07 04:50:23.672] [info] Received new action goal ×2 + 30.27sINFOros2_control_node[2026-08-07 04:50:23.672] [info] Accepted new action goal ×2 + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766663 ms (missed cycles : 6). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.766663 ms (missed cycles : 6).[0m ×2 + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284557 ms (missed cycles : 4). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284557 ms (missed cycles : 4).[0m ×2 + 31.94sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3). + 32.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3).[0m ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2).[0m ×2 + 35.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7). + 35.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7).[0m ×2 + 35.45sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786078228.85713530 seconds ×3 + 35.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 35.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 35.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5).[0m ×2 + 36.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786078229.61789536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.44sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 36.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.45sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Received new action goal ×2 + 36.45sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Accepted new action goal ×2 + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2). + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2).[0m ×2 + 38.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2). + 38.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2).[0m ×2
✓ passed	Pick April Tag Labeled Object	apriltag_pick_object.xml	15.5s	3 errors · 72 warnings · 207 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744209 ms (missed cycles : 4). + 7.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744209 ms (missed cycles : 4).[0m ×2 + 8.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839100 ms (missed cycles : 2). + 8.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839100 ms (missed cycles : 2).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728261 ms (missed cycles : 2). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728261 ms (missed cycles : 2).[0m ×2 + 10.35sWARNros2_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 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294789 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294789 ms (missed cycles : 3).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033561 ms (missed cycles : 7). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.033561 ms (missed cycles : 7).[0m ×2 + 12.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.87sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.87sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.17sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 13.17sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 13.19sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 13.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.27sINFOobjective_server_nodeFound path in 1 iterations (0.00482137 s). ×2 + 13.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099434 ms (missed cycles : 3). + 13.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099434 ms (missed cycles : 3).[0m ×2 + 13.45sINFOros2_control_node[2026-08-07 04:47:43.824] [info] Received new action goal ×2 + 13.45sINFOros2_control_node[2026-08-07 04:47:43.824] [info] Accepted new action goal ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524486 ms (missed cycles : 2). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524486 ms (missed cycles : 2).[0m ×2 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478810 ms (missed cycles : 5). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478810 ms (missed cycles : 5).[0m ×2 + 15.93sINFOros2_control_node[2026-08-07 04:47:46.297] [info] Received new action goal ×2 + 15.93sINFOros2_control_node[2026-08-07 04:47:46.297] [info] Accepted new action goal ×2 + 16.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2).[0m ×2 + 17.83sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.84sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Received new action goal ×2 + 17.84sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Accepted new action goal ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 19.22sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786078069.59541726 seconds ×3 + 19.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786078070.22371101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786078070.30383897 seconds ×3 + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2).[0m ×2 + 20.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786078070.93962240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.68sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 20.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.69sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Received new action goal ×2 + 20.69sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Accepted new action goal ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2).[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4).[0m ×2
✓ passed	Load and Execute Joint Trajectory	load_and_execute_joint_trajectory.xml	12.0s	3 errors · 57 warnings · 181 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725319 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725319 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00317431 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.59sINFOros2_control_node[2026-08-07 04:48:20.987] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-07 04:48:20.987] [info] Accepted new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 04:48:21.419] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 04:48:21.419] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251308 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251308 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693308 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693308 ms (missed cycles : 2).[0m ×2 + 2.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.92sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1786078103.37325716 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365164 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365164 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786078104.13955998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.91sINFOros2_control_node[2026-08-07 04:48:24.313] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-07 04:48:24.313] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093073 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093073 ms (missed cycles : 3).[0m ×2 + 6.42sINFOros2_control_node[2026-08-07 04:48:26.822] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-07 04:48:26.822] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786450 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786450 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924327 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924327 ms (missed cycles : 2).[0m ×2 + 8.32sWARNros2_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 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682542 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682542 ms (missed cycles : 2).[0m ×2 + 9.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288455 ms (missed cycles : 2). + 9.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288455 ms (missed cycles : 2).[0m ×2 + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635564 ms (missed cycles : 4). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635564 ms (missed cycles : 4).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3). + 13.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3).[0m ×2 + 13.60sWARNros2_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 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786078115.39400220 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4).[0m ×2 + 15.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786078116.05628419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.69sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.69sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.70sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.70sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.71sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786078116.11642313 seconds ×3 + 16.32sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786078116.72345042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5). + 16.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5).[0m ×2 + 16.43sINFOobjective_server_nodeFound path in 0 iterations (8.01e-07 s). ×2 + 16.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.43sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Received new action goal ×2 + 16.44sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Accepted new action goal ×2 + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2). + 17.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2).[0m ×2
✓ passed	Push Button	move_with_velocity_and_force.xml	11.7s	9 errors · 60 warnings · 199 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682414 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682414 ms (missed cycles : 3).[0m ×2 + 0.75sINFOobjective_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 + 0.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.75sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.75sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.75sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.75sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.75sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.93sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303395 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.303395 ms (missed cycles : 4).[0m ×2 + 1.62sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.62sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.63sINFOros2_control_node[2026-08-07 04:49:26.034] [info] Received new action goal ×2 + 1.63sINFOros2_control_node[2026-08-07 04:49:26.034] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204261 ms (missed cycles : 4). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.204261 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786078167.19032097 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619925 ms (missed cycles : 4). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619925 ms (missed cycles : 4).[0m ×2 + 3.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.09sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786078168.49544764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515394 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.515394 ms (missed cycles : 3).[0m ×2 + 4.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (4.07e-07 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.30sINFOros2_control_node[2026-08-07 04:49:29.700] [info] Received new action goal ×2 + 5.30sINFOros2_control_node[2026-08-07 04:49:29.700] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805529 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.805529 ms (missed cycles : 3).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547536 ms (missed cycles : 6). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547536 ms (missed cycles : 6).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935891 ms (missed cycles : 2). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935891 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205807 ms (missed cycles : 4). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205807 ms (missed cycles : 4).[0m ×2 + 8.99sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 9.00sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.00sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.00sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.00sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481727 ms (missed cycles : 4). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.481727 ms (missed cycles : 4).[0m ×2 + 10.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535231 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535231 ms (missed cycles : 2).[0m ×2 + 11.40sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 11.41sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.43sINFOros2_control_node[2026-08-07 04:49:35.831] [info] Received new action goal ×2 + 11.43sINFOros2_control_node[2026-08-07 04:49:35.831] [info] Accepted new action goal ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483065 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483065 ms (missed cycles : 2).[0m ×2 + 12.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904707 ms (missed cycles : 4). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904707 ms (missed cycles : 4).[0m ×2 + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.250652 ms (missed cycles : 7). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.250652 ms (missed cycles : 7).[0m ×2 + 15.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786078179.43568134 seconds ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2).[0m ×2 + 15.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078180.04307842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 15.82sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.82sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Received new action goal ×2 + 15.82sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Accepted new action goal ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4).[0m ×2 + 16.59sWARNros2_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 + 17.09sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 17.10sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.16sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.16sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3).[0m ×2 + 17.49sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 17.51sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6
✓ passed	MPC Pose Tracking With Static Sphere Point Cloud Avoidance	mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml	11.2s	24 errors · 63 warnings · 257 info
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×24 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078183.11955905 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×11 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×3 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×6 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078183.75495648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.02sINFOros2_control_node[2026-08-07 04:49:43.921] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-08-07 04:49:43.922] [info] Accepted new action goal ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078185.52730942 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786078186.16104913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-07 04:49:46.325] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-07 04:49:46.325] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054979 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054979 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991180 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991180 ms (missed cycles : 4).[0m ×2 + 5.90sWARNros2_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 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.490924 ms (missed cycles : 7). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.490924 ms (missed cycles : 7).[0m ×2 + 7.43sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 7.43sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.45sINFOros2_control_node[2026-08-07 04:49:49.345] [info] Received new action goal ×2 + 7.45sINFOros2_control_node[2026-08-07 04:49:49.345] [info] Accepted new action goal ×2 + 8.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224043 ms (missed cycles : 3). + 8.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224043 ms (missed cycles : 3).[0m ×2 + 9.40sINFOros2_control_node[2026-08-07 04:49:51.299] [info] Received new action goal ×2 + 9.40sINFOros2_control_node[2026-08-07 04:49:51.300] [info] Accepted new action goal ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727853 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727853 ms (missed cycles : 2).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280956 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280956 ms (missed cycles : 2).[0m ×2 + 10.94sWARNros2_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 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145762 ms (missed cycles : 4). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145762 ms (missed cycles : 4).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546251 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546251 ms (missed cycles : 3).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568224 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568224 ms (missed cycles : 3).[0m ×2 + 14.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323981 ms (missed cycles : 3). + 14.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323981 ms (missed cycles : 3).[0m ×2 + 14.86sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786078196.76187491 seconds ×3 + 15.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786078197.40693736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 15.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 15.73sINFOobjective_server_nodeFound path in 5 iterations (0.00865342 s). ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.406861 ms (missed cycles : 7). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.406861 ms (missed cycles : 7).[0m ×2 + 15.82sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 15.84sINFOros2_control_node[2026-08-07 04:49:57.735] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-08-07 04:49:57.735] [info] Accepted new action goal ×2 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774500 ms (missed cycles : 2). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774500 ms (missed cycles : 2).[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799668 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799668 ms (missed cycles : 2).[0m ×2
✓ passed	Grasp Pose Using Yaml	grasp_pose_using_yaml.xml	11.2s	9 errors · 60 warnings · 170 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118406 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118406 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957287 ms (missed cycles : 4). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957287 ms (missed cycles : 4).[0m ×2 + 1.04sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 1.31sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 1.31sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 1.31sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 1.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786078089.98347688 seconds ×3 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727761 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727761 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534555 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534555 ms (missed cycles : 3).[0m ×2 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.18sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786078092.83155251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902498 ms (missed cycles : 6). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902498 ms (missed cycles : 6).[0m ×2 + 4.20sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.20sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:13.035] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:13.035] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981203 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981203 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2 + 7.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967897 ms (missed cycles : 3). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.967897 ms (missed cycles : 3).[0m ×2 + 8.25sWARNros2_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 + 8.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.29sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.29sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439177 ms (missed cycles : 3). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.439177 ms (missed cycles : 3).[0m ×2 + 8.57sINFOobjective_server_nodeFound path in 0 iterations (4.37e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 8.58sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.59sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.71sINFOobjective_server_nodeFound path in 1 iterations (0.00289975 s). ×2 + 8.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.84sINFOobjective_server_nodeFound path in 1 iterations (0.00732641 s). ×2 + 8.94sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (2.78e-07 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (9.32e-07 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.34sINFOros2_control_node[2026-08-07 04:48:17.989] [info] Received new action goal ×2 + 9.34sINFOros2_control_node[2026-08-07 04:48:17.989] [info] Accepted new action goal ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050042 ms (missed cycles : 5). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050042 ms (missed cycles : 5).[0m ×2 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797392 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797392 ms (missed cycles : 2).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725319 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725319 ms (missed cycles : 2).[0m ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 12.04sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.04sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 12.04sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.05sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 12.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.13sINFOobjective_server_nodeFound path in 1 iterations (0.00317431 s). ×2 + 12.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.34sINFOros2_control_node[2026-08-07 04:48:20.987] [info] Received new action goal ×2 + 12.34sINFOros2_control_node[2026-08-07 04:48:20.987] [info] Accepted new action goal ×2 + 12.77sINFOros2_control_node[2026-08-07 04:48:21.419] [info] Received new action goal ×2 + 12.77sINFOros2_control_node[2026-08-07 04:48:21.419] [info] Accepted new action goal ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251308 ms (missed cycles : 5). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251308 ms (missed cycles : 5).[0m ×2 + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693308 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693308 ms (missed cycles : 2).[0m ×2 + 14.67sINFOobjective_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 + 14.68sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.68sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.68sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.68sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.73sERRORobjective_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: 1786078103.37325716 seconds ×3 + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365164 ms (missed cycles : 2). + 15.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365164 ms (missed cycles : 2).[0m ×2 + 15.49sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786078104.13955998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.66sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 15.67sINFOros2_control_node[2026-08-07 04:48:24.313] [info] Received new action goal ×2 + 15.67sINFOros2_control_node[2026-08-07 04:48:24.313] [info] Accepted new action goal ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2).[0m ×2 + 16.69sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093073 ms (missed cycles : 3). + 17.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093073 ms (missed cycles : 3).[0m ×2
✓ passed	3 Waypoints Pick and Place	3_waypoint_pick_and_place.xml	11.2s	3 errors · 56 warnings · 334 info
+ 0.00sINFOros2-7process has finished cleanly [pid 8988] ×2 + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 0.86sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 0.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.48sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.54sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.51sWARNros2_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 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.48sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2 + 6.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.91sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.97sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 6.98sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.99sINFOros2_control_node[2026-08-07 04:47:25.409] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-08-07 04:47:25.409] [info] Accepted new action goal ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819463 ms (missed cycles : 4). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819463 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562225 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562225 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363760 ms (missed cycles : 6). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.363760 ms (missed cycles : 6).[0m ×2 + 9.56sWARNros2_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 + 10.71sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883044 ms (missed cycles : 4). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.883044 ms (missed cycles : 4).[0m ×2 + 10.73sINFOros2_control_node[2026-08-07 04:47:29.150] [info] Received new action goal ×2 + 10.73sINFOros2_control_node[2026-08-07 04:47:29.150] [info] Accepted new action goal ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 14.04sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 14.05sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 14.07sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 14.07sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 14.90sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.90sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 14.90sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 14.92sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786078053.33374238 seconds ×3 + 14.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.93sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.93sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2).[0m ×2 + 15.56sWARNros2_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 + 15.56sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 16.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 16.49sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 16.49sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.50sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 16.50sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	59 errors · 39 warnings · 317 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4).[0m ×2 + 1.01sINFOobjective_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 + 1.02sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Got request to cancel active goal. ×2 + 1.02sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Canceling active goal... ×2 + 1.03sERRORobjective_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: 1786078284.22320580 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3).[0m ×2 + 1.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.08sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.08sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078284.86635900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2).[0m ×2 + 2.15sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078285.41648769 seconds ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786078286.02414680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.83sINFOobjective_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 + 2.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786078286.02587605 seconds ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786078286.62256908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786078286.62319779 seconds ×3 + 3.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078287.21986675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078287.95999670 seconds ×3 + 4.80sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453056 ms (missed cycles : 3). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453056 ms (missed cycles : 3).[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095140 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095140 ms (missed cycles : 2).[0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524619 ms (missed cycles : 2). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524619 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419620 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.419620 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818184 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818184 ms (missed cycles : 3).[0m ×2 + 9.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.58sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.61sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORweb_video_auth_proxy-23process has died [pid 9096, 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 + 10.61sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.61sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.64sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORweb_bridge_auth_proxy-22process has died [pid 9095, 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 + 10.64sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.64sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.65sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.67sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 10.68sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 10.69sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 10.70sINFOvideo_server-21process has finished cleanly [pid 9094] ×2 + 10.70sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 10.72sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.73sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.74sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.76sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.77sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.78sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.79sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 10.80sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.82sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.82sINFOcontroller_managerShutdown request received.... + 10.82sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.82sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.82sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.82sINFOvideo_server2026/08/07 04:51:33 INF shutting down gracefully ×2 + 10.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.82sINFOvideo_server2026/08/07 04:51:33 INF [WebRTC] closing ×2 + 10.82sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.82sINFOvideo_server2026/08/07 04:51:33 INF [RTSP] closing ×2 + 10.82sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.82sINFOvideo_server2026/08/07 04:51:33 INF waiting for running hooks ×2 + 10.82sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.82sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.82sINFOcontroller_managerShutting down the controller manager. + 10.82sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.83sWARNparameter_manager_nodeROS node was shutdown. ×2 + 10.83sERRORmove_group-9process has died [pid 9019, 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_xzl1udsx --params-file /tmp/launch_params_8cwa504v --params-file /tmp/launch_params_efskbo38 --params-file /tmp/launch_params_diks6_i1 --params-file /tmp/launch_params_oudquzd_ --params-file /tmp/launch_params_c0bwqs4v']. ×2 + 10.83sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.83sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.83sERRORmove_groupStack trace (most recent call last) in thread 9319: ×2 + 10.83sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.83sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491881aa63, in __clone ×2 + 10.83sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491878daa3, in ×2 + 10.83sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f4918a1fdb3, in ×2 + 10.83sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f491918bed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.83sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4918db1620, in rclcpp::Rate::sleep() ×2 + 10.83sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4918cf3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.83sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f4918cb5087, in ×2 + 10.83sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f49189ee390, in __cxa_throw ×2 + 10.83sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f49189d8a54, in std::terminate() ×2 + 10.83sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f49189ee0d9, in ×2 + 10.83sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f49189d8ff4, in ×2 + 10.83sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f49187198fe, in abort ×2 + 10.83sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491873627d, in raise ×2 + 10.83sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f491878fb2c, in pthread_kill ×2 + 10.83sERRORmove_groupAborted (Signal sent by tkill() 9019 0) ×2 + 10.83sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.83sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.83sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.83sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.83sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.83sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.83sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.03sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.03sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.03sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.71sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9092] ×2 + 11.71sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.79sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9023] ×2 + 11.80sINFOui_teleop_bridge-18process has finished cleanly [pid 9028] ×2 + 11.80sINFOexecute_objective_bridge-17process has finished cleanly [pid 9027] ×2 + 11.80sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9022] ×2 + 11.81sINFOcomponent_container_mt-16process has finished cleanly [pid 9026] ×2 + 11.84sINFOparameter_manager_node-10process has finished cleanly [pid 9020] ×2 + 11.84sINFOwaypoint_manager_node-11process has finished cleanly [pid 9021] ×2 + 11.88sINFOobjective_server_node[0;m[2026-08-07 04:51:35.078] [moveit_pro_license] [info] ×2 + 11.88sINFOobjective_server_node************************************************* ×4 + 11.88sINFOobjective_server_node* MoveIt Pro License ×2 + 11.88sINFOobjective_server_node* Application has successfully terminated ×2 + 12.50sINFOobjective_server_node_main-14process has finished cleanly [pid 9024] ×2 + 12.50sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.91sINFOweb_bridge-19process has finished cleanly [pid 9029] ×2 + 12.91sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.92sINFOcomponent_container_mt-15process has finished cleanly [pid 9025] ×2 + 13.46sINFOros2_control_node-1process has finished cleanly [pid 8982] ×2
✓ passed	Cycle Between Waypoints	cycle_between_waypoints.xml	11.0s	3 errors · 60 warnings · 165 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2).[0m ×2 + 1.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Accepted new action goal ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786078069.59541726 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786078070.22371101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786078070.30383897 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786078070.93962240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6).[0m ×2 + 7.63sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 7.63sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.64sINFOros2_control_node[2026-08-07 04:47:54.433] [info] Received new action goal ×2 + 7.64sINFOros2_control_node[2026-08-07 04:47:54.433] [info] Accepted new action goal ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862391 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.862391 ms (missed cycles : 5).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463787 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.463787 ms (missed cycles : 3).[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846408 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846408 ms (missed cycles : 2).[0m ×2 + 9.98sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 9.99sINFOros2_control_node[2026-08-07 04:47:56.781] [info] Received new action goal ×2 + 9.99sINFOros2_control_node[2026-08-07 04:47:56.781] [info] Accepted new action goal ×2 + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 10.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 12.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 12.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 12.33sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 12.34sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 12.34sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 14.52sINFOobjective_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 + 14.53sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 14.53sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 14.53sERRORobjective_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: 1786078081.32259130 seconds ×3 + 15.17sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.36sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 15.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.37sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 15.37sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
✓ passed	Record and Replay Scanning Motion	record_and_replay_scanning_motion.xml	11.0s	3 errors · 58 warnings · 176 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171616 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171616 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200109 ms (missed cycles : 7). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200109 ms (missed cycles : 7).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240642 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240642 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490363 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490363 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786078261.22166800 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786078261.82820916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334333 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334333 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-08-07 04:51:01.973] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-07 04:51:01.973] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119288 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119288 ms (missed cycles : 5).[0m ×2 + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158392 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158392 ms (missed cycles : 4).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987375 ms (missed cycles : 4). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.987375 ms (missed cycles : 4).[0m ×2 + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354634 ms (missed cycles : 4). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.354634 ms (missed cycles : 4).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826340 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826340 ms (missed cycles : 2).[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839070 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839070 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4).[0m ×2 + 12.29sWARNros2_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 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 14.52sINFOobjective_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 + 14.52sERRORobjective_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: 1786078272.21850586 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 15.15sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.19sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.19sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.21sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 15.82sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sINFOobjective_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 + 15.85sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 16.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.58sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 16.58sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.59sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 16.59sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2
✓ passed	Plan and Save Trajectory	plan_and_save_trajectory.xml	11.0s	3 errors · 63 warnings · 101 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×4 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.846740 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.846740 ms (missed cycles : 5).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416955 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.416955 ms (missed cycles : 3).[0m ×2 + 9.04sWARNros2_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 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.298978 ms (missed cycles : 6). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.298978 ms (missed cycles : 6).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681849 ms (missed cycles : 4). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.681849 ms (missed cycles : 4).[0m ×2 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160031 ms (missed cycles : 3). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160031 ms (missed cycles : 3).[0m ×2 + 12.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2). + 12.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321088 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321088 ms (missed cycles : 3).[0m ×2 + 14.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.93sERRORobjective_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: 1786078250.71527958 seconds ×3 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839457 ms (missed cycles : 3). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839457 ms (missed cycles : 3).[0m ×2 + 15.53sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786078251.31237125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.81sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 15.82sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.84sINFOros2_control_node[2026-08-07 04:50:51.618] [info] Received new action goal ×2 + 15.84sINFOros2_control_node[2026-08-07 04:50:51.618] [info] Accepted new action goal ×2 + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341420 ms (missed cycles : 5). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341420 ms (missed cycles : 5).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122279 ms (missed cycles : 4). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122279 ms (missed cycles : 4).[0m ×2
✓ passed	Grasp Pose Tuning With April Tag	grasp_pose_tuning_with_april_tag.xml	10.8s	9 errors · 60 warnings · 150 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 ×4 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348399 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348399 ms (missed cycles : 2).[0m ×2 + 8.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.44sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.71sINFOobjective_server_nodeFound path in 0 iterations (3.89e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.72sINFOobjective_server_nodeFound path in 0 iterations (4.54e-07 s). ×2 + 8.72sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.423986 ms (missed cycles : 6). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.423986 ms (missed cycles : 6).[0m ×2 + 8.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (3.62e-07 s). ×2 + 8.83sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.85sINFOobjective_server_nodeFound path in 1 iterations (0.00273031 s). ×2 + 8.96sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.99sINFOobjective_server_nodeFound path in 1 iterations (0.00456926 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 9.21sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 9.34sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.48sINFOros2_control_node[2026-08-07 04:48:07.258] [info] Received new action goal ×2 + 9.48sINFOros2_control_node[2026-08-07 04:48:07.258] [info] Accepted new action goal ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219663 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219663 ms (missed cycles : 2).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118406 ms (missed cycles : 4). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.118406 ms (missed cycles : 4).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957287 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.957287 ms (missed cycles : 4).[0m ×2 + 11.91sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.18sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.19sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.21sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786078089.98347688 seconds ×3 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727761 ms (missed cycles : 2). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727761 ms (missed cycles : 2).[0m ×2 + 13.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534555 ms (missed cycles : 3). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.534555 ms (missed cycles : 3).[0m ×2 + 15.06sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786078092.83155251 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902498 ms (missed cycles : 6). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.902498 ms (missed cycles : 6).[0m ×2 + 15.25sINFOobjective_server_nodeFound path in 0 iterations (3.59e-07 s). ×2 + 15.26sINFOros2_control_node[2026-08-07 04:48:13.035] [info] Received new action goal ×2 + 15.26sINFOros2_control_node[2026-08-07 04:48:13.035] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981203 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.981203 ms (missed cycles : 2).[0m ×2 + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.026890 ms (missed cycles : 4).[0m ×2
✓ passed	Pick April Tag Labeled Object With Approval	pick_april_tag_object_with_approval.xml	10.8s	60 warnings · 141 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2).[0m ×2 + 2.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786078228.85713530 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786078229.61789536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2).[0m ×2 + 6.69sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.880728 ms (missed cycles : 8). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.880728 ms (missed cycles : 8).[0m ×2 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.97sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.98sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.25sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.25sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.26sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.34sINFOobjective_server_nodeFound path in 1 iterations (0.00320267 s). ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064513 ms (missed cycles : 2). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064513 ms (missed cycles : 2).[0m ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.49sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.51sINFOros2_control_node[2026-08-07 04:50:33.855] [info] Received new action goal ×2 + 8.51sINFOros2_control_node[2026-08-07 04:50:33.855] [info] Accepted new action goal ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034904 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034904 ms (missed cycles : 2).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 10.99sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 10.99sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 12.89sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.89sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.90sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 12.90sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 13.43sWARNros2_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 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 14.29sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 15.04sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 15.21sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.23sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 15.23sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 17.14sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
✓ passed	Stationary Admittance	stationary_admittance.xml	10.7s	6 errors · 59 warnings · 276 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786078272.21850586 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×4 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345380 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345380 ms (missed cycles : 4).[0m ×2 + 7.60sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.61sINFOros2_control_node[2026-08-07 04:51:17.592] [info] Received new action goal ×2 + 7.61sINFOros2_control_node[2026-08-07 04:51:17.592] [info] Accepted new action goal ×2 + 7.61sINFOros2_control_node[2026-08-07 04:51:17.592] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699800 ms (missed cycles : 3). + 8.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699800 ms (missed cycles : 3).[0m ×2 + 9.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572771 ms (missed cycles : 6). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.572771 ms (missed cycles : 6).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371237 ms (missed cycles : 3). + 10.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371237 ms (missed cycles : 3).[0m ×2 + 11.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2). + 11.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2).[0m ×2 + 11.82sWARNros2_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 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2). + 12.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2).[0m ×2 + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4).[0m ×2 + 14.23sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Got request to cancel active goal. ×2 + 14.23sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Canceling active goal... ×2 + 14.24sERRORobjective_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: 1786078284.22320580 seconds ×3 + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3).[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078284.86635900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2).[0m ×2 + 15.36sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.43sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078285.41648769 seconds ×3 + 16.04sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786078286.02414680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.04sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.04sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.04sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786078286.02587605 seconds ×3 + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4).[0m ×2 + 16.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786078286.62256908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.64sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786078286.62319779 seconds ×3
✓ passed	Playback Square Trajectory	playback_square_trajectory.xml	10.5s	3 errors · 57 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160031 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160031 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321088 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321088 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_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 + 3.00sERRORobjective_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: 1786078250.71527958 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839457 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839457 ms (missed cycles : 3).[0m ×2 + 3.29sWARNros2_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 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786078251.31237125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.90sINFOros2_control_node[2026-08-07 04:50:51.618] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-08-07 04:50:51.618] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341420 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341420 ms (missed cycles : 5).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122279 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122279 ms (missed cycles : 4).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811380 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811380 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014967 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014967 ms (missed cycles : 2).[0m ×2 + 7.92sINFOros2_control_node[2026-08-07 04:50:55.637] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-08-07 04:50:55.637] [info] Accepted new action goal ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834675 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834675 ms (missed cycles : 3).[0m ×2 + 9.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171616 ms (missed cycles : 2). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171616 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200109 ms (missed cycles : 7). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200109 ms (missed cycles : 7).[0m ×2 + 12.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240642 ms (missed cycles : 2). + 12.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240642 ms (missed cycles : 2).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490363 ms (missed cycles : 3). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490363 ms (missed cycles : 3).[0m ×2 + 13.51sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786078261.22166800 seconds ×3 + 14.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786078261.82820916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334333 ms (missed cycles : 4). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334333 ms (missed cycles : 4).[0m ×2 + 14.24sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 14.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.26sINFOros2_control_node[2026-08-07 04:51:01.973] [info] Received new action goal ×2 + 14.26sINFOros2_control_node[2026-08-07 04:51:01.973] [info] Accepted new action goal ×2 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119288 ms (missed cycles : 5). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119288 ms (missed cycles : 5).[0m ×2 + 16.17sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.17sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158392 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158392 ms (missed cycles : 4).[0m ×2
✓ passed	ML Segment Bottles from File	ml_segment_bottles_from_file.xml	5.3s	37 warnings · 179 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786078116.05628419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786078116.11642313 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786078116.72345042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5).[0m ×2 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (8.01e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Accepted new action goal ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786078118.84360147 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2).[0m ×2 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441757 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441757 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786078120.43988442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793842 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793842 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_node[2026-08-07 04:48:41.144] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.84sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 + 5.84sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.04sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 6.53sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.68sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.74sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 6.75sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 6.75sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.77sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 7.14sINFOobjective_server_node[0;93m2026-08-07 04:48:43.191334589 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 7.16sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212951997 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 7.16sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212983569 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3).[0m ×2 + 9.07sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786078125.12979865 seconds ×3 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5).[0m ×2 + 9.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786078125.84011054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.86sINFOobjective_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 + 9.87sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 10.15sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 10.16sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 10.21sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Received new action goal ×2 + 10.21sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Accepted new action goal ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5).[0m ×2 + 10.76sWARNros2_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 + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3).[0m ×2
✓ passed	Look at Table	look_at_table.xml	3.7s	34 warnings · 150 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786078115.39400220 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786078116.05628419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786078116.11642313 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786078116.72345042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (8.01e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786078118.84360147 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2).[0m ×2 + 7.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441757 ms (missed cycles : 3). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441757 ms (missed cycles : 3).[0m ×2 + 7.97sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786078120.43988442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793842 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793842 ms (missed cycles : 2).[0m ×2 + 8.67sINFOobjective_server_node[2026-08-07 04:48:41.144] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.42sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 + 9.42sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.63sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 10.12sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.12sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.27sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.33sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.33sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.33sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.36sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2
✓ passed	MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml	3.7s	21 errors · 32 warnings · 245 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-07 04:49:35.831] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-07 04:49:35.831] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483065 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483065 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904707 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904707 ms (missed cycles : 4).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.250652 ms (missed cycles : 7). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.250652 ms (missed cycles : 7).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786078179.43568134 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2).[0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078180.04307842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.53sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4).[0m ×2 + 5.30sWARNros2_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 + 5.80sINFOobjective_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 + 5.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3).[0m ×2 + 6.20sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5).[0m ×2 + 7.42sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078183.11955905 seconds ×3 + 7.43sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.43sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5).[0m ×2 + 8.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078183.75495648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.11sINFOobjective_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 + 8.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.23sINFOros2_control_node[2026-08-07 04:49:43.921] [info] Received new action goal ×2 + 8.23sINFOros2_control_node[2026-08-07 04:49:43.922] [info] Accepted new action goal ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2). + 9.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2).[0m ×2 + 9.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078185.52730942 seconds ×3 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6).[0m ×2 + 10.46sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786078186.16104913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3
✓ passed	MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample	mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml	2.4s	21 errors · 31 warnings · 227 info
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786078179.43568134 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2).[0m ×2 + 0.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078180.04307842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.79sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Accepted new action goal ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4).[0m ×2 + 1.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.06sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.07sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3).[0m ×2 + 2.46sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.48sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5).[0m ×2 + 3.68sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078183.11955905 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.69sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078183.75495648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.37sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.49sINFOros2_control_node[2026-08-07 04:49:43.921] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-08-07 04:49:43.922] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078185.52730942 seconds ×3 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6).[0m ×2 + 6.73sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786078186.16104913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 6.89sINFOros2_control_node[2026-08-07 04:49:46.325] [info] Received new action goal ×2 + 6.89sINFOros2_control_node[2026-08-07 04:49:46.325] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054979 ms (missed cycles : 5). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054979 ms (missed cycles : 5).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991180 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991180 ms (missed cycles : 4).[0m ×2 + 8.37sWARNros2_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
✓ passed	Close Gripper	close_gripper.xml	1.6s	32 warnings · 531 info
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.19sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.23sINFOobjective_server_node[2026-08-07 04:47:14.594] [moveit_pro_license] [info] ×2 + 0.23sINFOobjective_server_node************************************************* ×4 + 0.23sINFOobjective_server_node* MoveIt Pro License ×2 + 0.23sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.33sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.33sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.34sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.34sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.51sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.51sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.85sINFOcomponent_container_mt[2026-08-07 04:47:15.213] [moveit_pro_license] [info] ×2 + 0.85sINFOcomponent_container_mt************************************************* ×4 + 0.85sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.85sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.94sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.94sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.94sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.94sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.94sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.94sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.94sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.94sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.94sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.94sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.94sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.94sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.94sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.94sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.99sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.99sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.99sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.99sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.00sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.00sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.04sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.04sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.04sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.05sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.05sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.05sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.05sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.05sINFOcontroller_managerSuccessfully switched controllers! ×20 + 1.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 1.06sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.06sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108843 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108843 ms (missed cycles : 2).[0m ×2 + 1.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2-5process has finished cleanly [pid 8986] ×2 + 1.46sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.46sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.53sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.53sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.53sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.54sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.54sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.56sINFOros2_control_node[2026-08-07 04:47:15.931] [info] Controller state will be published at 20 Hz. ×2 + 1.56sINFOros2_control_node[2026-08-07 04:47:15.931] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.90sINFOros2-8process has finished cleanly [pid 8989] ×2 + 1.96sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.96sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.96sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.96sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.96sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.96sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 2.01sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.01sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.01sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.01sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.02sINFOforce_torque_sensor_broadcasterconfigure successful + 2.02sINFOros2_control_nodeconfigure successful[0m ×2 + 2.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.03sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.03sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 2.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.35sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 2.35sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 2.35sINFOros2-2process has finished cleanly [pid 8983] ×2 + 2.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.40sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.41sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.46sWARNobjective_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 + 2.53sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 2.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.61sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.71sINFOros2-4process has finished cleanly [pid 8985] ×2 + 2.75sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.75sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.75sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.75sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.75sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 2.75sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 2.76sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.79sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.79sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.79sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.79sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.79sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.79sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.81sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.81sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.09sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 3.12sINFOros2-3process has finished cleanly [pid 8984] ×2 + 3.12sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.12sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.12sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.12sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 3.19sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 3.19sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 3.24sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 3.24sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 3.24sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 3.24sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 3.24sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.24sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 3.26sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 3.27sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.27sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.59sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.59sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.59sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.59sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 3.62sINFOros2-6process has finished cleanly [pid 8987] ×2 + 3.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 3.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 3.70sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.70sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.70sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.71sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.73sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 3.73sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.05sINFOros2-7process has finished cleanly [pid 8988] ×2 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 5.05sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 6.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 7.56sWARNros2_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 + 7.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.78sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.78sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 7.80sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.80sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	3 errors · 28 warnings · 139 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_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 + 3.05sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1786078284.22320580 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078284.86635900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2).[0m ×2 + 4.18sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078285.41648769 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786078286.02414680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.86sINFOobjective_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 + 4.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786078286.02587605 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786078286.62256908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786078286.62319779 seconds ×3 + 5.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078287.21986675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078287.95999670 seconds ×3 + 6.84sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Add Table to Planning Scene	add_table_to_planning_scene.xml	0.8s	3 errors · 23 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4).[0m ×2
✓ passed	Load MuJoCo Robot State	load_mujoco_robot_state.xml	0.7s	23 warnings · 100 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786078115.39400220 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786078116.05628419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786078116.11642313 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786078116.72345042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (8.01e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786078118.84360147 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2).[0m ×2
✓ passed	Clear Previous Obstacles	clear_previous_obstacles.xml	0.7s	31 warnings · 87 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478810 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.478810 ms (missed cycles : 5).[0m ×2 + 0.31sINFOros2_control_node[2026-08-07 04:47:46.297] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-08-07 04:47:46.297] [info] Accepted new action goal ×2 + 0.81sWARNros2_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 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2).[0m ×2 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2).[0m ×2 + 2.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.21sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.23sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Received new action goal ×2 + 2.23sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Accepted new action goal ×2 + 3.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786078069.59541726 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786078070.22371101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786078070.30383897 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2).[0m ×2 + 4.96sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786078070.93962240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.08sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Received new action goal ×2 + 5.08sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4).[0m ×2 + 6.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6).[0m ×2
✓ passed	Reset MuJoCo Robot	reset_mujoco_robot.xml	0.7s	3 errors · 23 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4).[0m ×2 + 0.62sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_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: 1786078272.21850586 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2).[0m ×2
✓ passed	Open Gripper	open_gripper.xml	0.6s	27 warnings · 440 info
+ 0.00sINFOros2-5process has finished cleanly [pid 8986] ×2 + 0.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.13sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.51sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 8983] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 8985] ×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_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [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 + 1.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.40sINFOros2_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 + 1.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOros2-3process has finished cleanly [pid 8984] ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.80sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.80sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.19sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.19sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 2.23sINFOros2-6process has finished cleanly [pid 8987] ×2 + 2.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 2.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 2.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.33sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 2.34sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sINFOros2-7process has finished cleanly [pid 8988] ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 7.01sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.03sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.03sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.03sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 7.13sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.14sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2
✓ passed	Save Robot Joint State	save_robot_joint_state.xml	0.6s	3 errors · 25 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4).[0m ×2 + 0.62sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_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: 1786078272.21850586 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2).[0m ×2 + 6.69sWARNros2_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
✓ 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 (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4).[0m ×2 + 2.41sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Got request to cancel active goal. ×2 + 2.41sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Canceling active goal... ×2 + 2.42sERRORobjective_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: 1786078284.22320580 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3).[0m ×2 + 2.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.49sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.49sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078284.86635900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2).[0m ×2 + 3.54sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078285.41648769 seconds ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786078286.02414680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.22sINFOobjective_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 + 4.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786078286.02587605 seconds ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786078286.62256908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786078286.62319779 seconds ×3 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078287.21986675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4). + 5.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078287.95999670 seconds ×3 + 6.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453056 ms (missed cycles : 3). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453056 ms (missed cycles : 3).[0m ×2
✓ 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 2.815240 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4).[0m ×2 + 2.03sINFOobjective_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 + 2.04sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Got request to cancel active goal. ×2 + 2.04sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Canceling active goal... ×2 + 2.05sERRORobjective_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: 1786078284.22320580 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3).[0m ×2 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.69sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078284.86635900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2).[0m ×2 + 3.17sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078285.41648769 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786078286.02414680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.85sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.85sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.85sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786078286.02587605 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4).[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786078286.62256908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786078286.62319779 seconds ×3 + 4.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078287.21986675 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.953574 ms (missed cycles : 4).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078287.95999670 seconds ×3 + 5.82sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453056 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453056 ms (missed cycles : 3).[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095140 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095140 ms (missed cycles : 2).[0m ×2
− skipped	ML Segment Point Cloud	ml_segment_point_cloud.xml	0.0s	20 warnings · 77 info
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.85sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.93sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-07 04:48:43.191334589 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212951997 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212983569 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786078125.12979865 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786078125.84011054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.03sINFOobjective_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 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5).[0m ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 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 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Fit Bottle Model Subtree	fit_bottle_model_subtree.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 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 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Get AprilTag Pose from Image	get_april_tag_pose_from_image.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Get Bottle Grasp via ICP Subtree	get_bottle_grasp_via_icp_subtree.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Get Collision Free Grasp Subtree	get_collision_free_grasp_subtree.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Grasp Planning	grasp_planning.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	LoadAndVisualizePointCloud	load_and_visualize_point_cloud.xml	0.0s	20 warnings · 97 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.885721 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237227 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780926 ms (missed cycles : 2).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786078115.39400220 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.93sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.95sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094052 ms (missed cycles : 4).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786078116.05628419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.63sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.63sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786078116.11642313 seconds ×3 + 4.25sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786078116.72345042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (8.01e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2).[0m ×2
− skipped	MPC Pose Tracking	mpc_pose_tracking.xml	0.0s	9 errors · 20 warnings · 106 info
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.11sINFOobjective_server_nodeFound path in 0 iterations (4.93e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-07 04:49:35.831] [info] Received new action goal ×2 + 0.14sINFOros2_control_node[2026-08-07 04:49:35.831] [info] Accepted new action goal ×2 + 0.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483065 ms (missed cycles : 2). + 0.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483065 ms (missed cycles : 2).[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904707 ms (missed cycles : 4). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.904707 ms (missed cycles : 4).[0m ×2 + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.250652 ms (missed cycles : 7). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.250652 ms (missed cycles : 7).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786078179.43568134 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2). + 3.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684924 ms (missed cycles : 2).[0m ×2 + 3.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078180.04307842 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.52sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 4.52sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.53sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Received new action goal ×2 + 4.53sINFOros2_control_node[2026-08-07 04:49:40.226] [info] Accepted new action goal ×2 + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610004 ms (missed cycles : 4).[0m ×2 + 5.30sWARNros2_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 + 5.80sINFOobjective_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 + 5.80sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.86sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.86sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373797 ms (missed cycles : 3).[0m ×2 + 6.20sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 6.21sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6
− skipped	Pick All Bottles with AprilTags	pick_all_bottles_with_apriltags.xml	0.0s	20 warnings · 50 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2).[0m ×2 + 2.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786078228.85713530 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786078229.61789536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2).[0m ×2
− skipped	Pick All Pill Bottles	pick_all_pill_bottles.xml	0.0s	20 warnings · 50 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.596495 ms (missed cycles : 3).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 1.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2). + 1.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469288 ms (missed cycles : 2).[0m ×2 + 2.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.375186 ms (missed cycles : 7).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786078228.85713530 seconds ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.724966 ms (missed cycles : 5).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786078229.61789536 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 4.50sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-07 04:50:29.853] [info] Accepted new action goal ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541105 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941513 ms (missed cycles : 2).[0m ×2
− skipped	Place at Pose	place_at_pose.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− 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 2.171616 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171616 ms (missed cycles : 2).[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200109 ms (missed cycles : 7). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.200109 ms (missed cycles : 7).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240642 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.240642 ms (missed cycles : 2).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490363 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.490363 ms (missed cycles : 3).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786078261.22166800 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786078261.82820916 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334333 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334333 ms (missed cycles : 4).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.68e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.28sINFOros2_control_node[2026-08-07 04:51:01.973] [info] Received new action goal ×2 + 4.28sINFOros2_control_node[2026-08-07 04:51:01.973] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119288 ms (missed cycles : 5). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.119288 ms (missed cycles : 5).[0m ×2 + 6.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.18sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158392 ms (missed cycles : 4). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.158392 ms (missed cycles : 4).[0m ×2
− skipped	Register CAD Part Subtree	register_cad_part_subtree.xml	0.0s	3 errors · 20 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4).[0m ×2 + 0.62sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_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: 1786078272.21850586 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2
− skipped	Scan Scene - Multiple Point Clouds	scan_scene_-_multiple_point_clouds.xml	0.0s	3 errors · 22 warnings · 134 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786078272.21850586 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Take Wrist Camera Image	take_picture_with_wrist_camera.xml	0.0s	3 errors · 25 warnings · 133 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_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 + 3.05sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1786078284.22320580 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078284.86635900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2).[0m ×2 + 4.18sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078285.41648769 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786078286.02414680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.86sINFOobjective_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 + 4.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786078286.02587605 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786078286.62256908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786078286.62319779 seconds ×3 + 5.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Add Point Cloud to Vector	add_point_cloud_to_vector.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2
− skipped	Add Poses to MTC Task	add_poses_to_mtc_task.xml	0.0s	3 errors · 20 warnings · 91 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 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 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4).[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 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4).[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 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4).[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 5.011393 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.011393 ms (missed cycles : 4).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.249834 ms (missed cycles : 7).[0m ×2 + 2.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.09sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 2.09sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Received new action goal ×2 + 2.11sINFOros2_control_node[2026-08-07 04:47:32.482] [info] Accepted new action goal ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399229 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.94sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-07 04:47:33.315] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786078053.33374238 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.97sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.97sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371123 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 + 3.61sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786078053.97778702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.72sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786078054.08791399 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786078054.70525432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084544 ms (missed cycles : 4).[0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (4.69e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-07 04:47:34.919] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417467 ms (missed cycles : 3).[0m ×2 + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4). + 6.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233194 ms (missed cycles : 4).[0m ×2
− skipped	ComputeLinkPoseFromWaypoint	computelinkposefromwaypoint.xml	0.0s	28 warnings · 83 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2).[0m ×2 + 1.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Accepted new action goal ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786078069.59541726 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786078070.22371101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786078070.30383897 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786078070.93962240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6).[0m ×2
− skipped	Constrained Pick and Place Subtree	constrained_pick_and_place_subtree.xml	0.0s	28 warnings · 83 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2).[0m ×2 + 1.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Accepted new action goal ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786078069.59541726 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786078070.22371101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786078070.30383897 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786078070.93962240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6).[0m ×2
− skipped	Create PCL Poses Vector	create_pcl_poses_vector.xml	0.0s	28 warnings · 83 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2).[0m ×2 + 1.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Accepted new action goal ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786078069.59541726 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786078070.22371101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786078070.30383897 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786078070.93962240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6).[0m ×2
− skipped	Create Pose Vector	create_pose_vector.xml	0.0s	28 warnings · 83 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602912 ms (missed cycles : 2).[0m ×2 + 0.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.597162 ms (missed cycles : 2).[0m ×2 + 1.41sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.41sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-07 04:47:48.210] [info] Accepted new action goal ×2 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405698 ms (missed cycles : 3).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786078069.59541726 seconds ×3 + 2.81sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.43sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786078070.22371101 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786078070.30383897 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.710315 ms (missed cycles : 2).[0m ×2 + 4.15sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786078070.93962240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.26sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-08-07 04:47:51.064] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503698 ms (missed cycles : 2).[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.178418 ms (missed cycles : 4).[0m ×2 + 6.11sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.559644 ms (missed cycles : 6).[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 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Fuse Multiple Views Subtree	fuse_multiple_views_subtree.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	GetPoseAtGripperandDisplay	get_pose_at_gripper_and_display.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Get Transform Frame Pose	get_transform_frame_pose.xml	0.0s	3 errors · 23 warnings · 60 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078595 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158789 ms (missed cycles : 2).[0m ×2 + 1.14sWARNros2_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 + 1.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.35sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 1.35sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Received new action goal ×2 + 1.36sINFOros2_control_node[2026-08-07 04:47:59.131] [info] Accepted new action goal ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.838186 ms (missed cycles : 7).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693031 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_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 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Got request to cancel active goal. ×2 + 3.54sINFOros2_control_node[2026-08-07 04:48:01.319] [info] Canceling active goal... ×2 + 3.55sERRORobjective_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: 1786078081.32259130 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.60sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.60sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.60sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786078081.96146870 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 0 iterations (3.94e-07 s). ×2 + 4.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-07 04:48:02.165] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.690153 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856683 ms (missed cycles : 2).[0m ×2 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336873 ms (missed cycles : 2).[0m ×2
− skipped	Joint Diagnostic	joint_diagnostic.xml	0.0s	3 errors · 20 warnings · 80 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725319 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725319 ms (missed cycles : 2).[0m ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 0.28sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.28sINFOobjective_server_nodeFound path in 0 iterations (3.45e-07 s). ×2 + 0.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.30sINFOobjective_server_nodeFound path in 0 iterations (6.11e-07 s). ×2 + 0.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.38sINFOobjective_server_nodeFound path in 1 iterations (0.00317431 s). ×2 + 0.50sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.59sINFOros2_control_node[2026-08-07 04:48:20.987] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-07 04:48:20.987] [info] Accepted new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 04:48:21.419] [info] Received new action goal ×2 + 1.02sINFOros2_control_node[2026-08-07 04:48:21.419] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251308 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.251308 ms (missed cycles : 5).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693308 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693308 ms (missed cycles : 2).[0m ×2 + 2.41sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.41sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 2.91sINFOobjective_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 + 2.92sINFOrobotiq_gripper_controllerGot request to cancel goal + 2.92sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 2.92sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 2.92sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 2.97sERRORobjective_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: 1786078103.37325716 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365164 ms (missed cycles : 2). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365164 ms (missed cycles : 2).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786078104.13955998 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (3.58e-07 s). ×2 + 3.91sINFOros2_control_node[2026-08-07 04:48:24.313] [info] Received new action goal ×2 + 3.91sINFOros2_control_node[2026-08-07 04:48:24.313] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677371 ms (missed cycles : 2).[0m ×2 + 4.93sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093073 ms (missed cycles : 3). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093073 ms (missed cycles : 3).[0m ×2
− skipped	ML Find Bottles on Table from Image Exemplar	ml_find_bottles_on_table_from_image_exemplar.xml	0.0s	20 warnings · 122 info
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786078116.05628419 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786078116.11642313 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786078116.72345042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.008781 ms (missed cycles : 5).[0m ×2 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (8.01e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.78sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-07 04:48:36.837] [info] Accepted new action goal ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226879 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786078118.84360147 seconds ×3 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163343 ms (missed cycles : 2).[0m ×2 + 3.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441757 ms (missed cycles : 3). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.441757 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786078120.43988442 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793842 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793842 ms (missed cycles : 2).[0m ×2 + 5.09sINFOobjective_server_node[2026-08-07 04:48:41.144] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.84sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 + 5.84sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.04sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 6.53sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 6.53sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.68sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.74sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 6.75sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 6.75sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.77sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2
− skipped	ML Segment Image	ml_segment_image.xml	0.0s	20 warnings · 77 info
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.85sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.93sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-07 04:48:43.191334589 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212951997 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212983569 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786078125.12979865 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786078125.84011054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.03sINFOobjective_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 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5).[0m ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3).[0m ×2
− skipped	ML Segment Image Loop	ml_segment_image_loop.xml	0.0s	20 warnings · 77 info
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.85sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.93sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-07 04:48:43.191334589 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212951997 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212983569 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786078125.12979865 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786078125.84011054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.03sINFOobjective_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 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5).[0m ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3).[0m ×2
− skipped	ML Segment Point Cloud from Clicked Point	ml_segment_point_cloud_from_clicked_point.xml	0.0s	20 warnings · 77 info
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.85sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.93sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-07 04:48:43.191334589 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212951997 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212983569 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786078125.12979865 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786078125.84011054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.03sINFOobjective_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 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5).[0m ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3).[0m ×2
− skipped	Move Along Square	move_along_square.xml	0.0s	20 warnings · 77 info
+ 0.00sINFOobjective_server_node[0;93m2026-08-07 04:48:41.894770430 [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 04:48:41.894808192 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.20sINFOobjective_server_node[2026-08-07 04:48:42.098] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129324 ms (missed cycles : 2).[0m ×2 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589586186 [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 + 0.69sINFOobjective_server_node[0;93m2026-08-07 04:48:42.589617595 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.85sINFOobjective_server_node[2026-08-07 04:48:42.740] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.90sINFOobjective_server_node[0;93m2026-08-07 04:48:42.799338572 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803701138 [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 + 0.91sINFOobjective_server_node[0;93m2026-08-07 04:48:42.803737174 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.93sINFOobjective_server_node[2026-08-07 04:48:42.827] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.30sINFOobjective_server_node[0;93m2026-08-07 04:48:43.191334589 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212951997 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.32sINFOobjective_server_node[0;93m2026-08-07 04:48:43.212983569 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.700264 ms (missed cycles : 5).[0m ×2 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223278 ms (missed cycles : 3).[0m ×2 + 3.23sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786078125.12979865 seconds ×3 + 3.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.29sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.996631 ms (missed cycles : 5).[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786078125.84011054 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.95sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.03sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.03sINFOobjective_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 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (8.64e-07 s). ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-07 04:48:46.268] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.933430 ms (missed cycles : 5).[0m ×2 + 4.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423309 ms (missed cycles : 3).[0m ×2
− skipped	MPC Pose Tracking With Point Cloud Avoidance	mpc_pose_tracking_with_point_cloud_avoidance.xml	0.0s	21 errors · 20 warnings · 162 info
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5). + 0.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.057550 ms (missed cycles : 5).[0m ×2 + 1.22sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078183.11955905 seconds ×3 + 1.23sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.23sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.23sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.23sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.23sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.24sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.24sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.912044 ms (missed cycles : 5).[0m ×2 + 1.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786078183.75495648 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.01sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 2.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.02sINFOros2_control_node[2026-08-07 04:49:43.921] [info] Received new action goal ×2 + 2.02sINFOros2_control_node[2026-08-07 04:49:43.922] [info] Accepted new action goal ×2 + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.117213 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_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 + 3.35sINFOobjective_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 + 3.35sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786078185.52730942 seconds ×3 + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.905743 ms (missed cycles : 6).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1786078186.16104913 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.43sINFOros2_control_node[2026-08-07 04:49:46.325] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-08-07 04:49:46.325] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054979 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.054979 ms (missed cycles : 5).[0m ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991180 ms (missed cycles : 4). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.991180 ms (missed cycles : 4).[0m ×2 + 5.90sWARNros2_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
− skipped	Octomap Example	octomap_example.xml	0.0s	3 errors · 23 warnings · 81 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145762 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.145762 ms (missed cycles : 4).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546251 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546251 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568224 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568224 ms (missed cycles : 3).[0m ×2 + 3.03sINFOobjective_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 + 3.10sINFOobjective_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 + 3.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323981 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323981 ms (missed cycles : 3).[0m ×2 + 3.36sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×3 + 3.36sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1786078196.76187491 seconds ×3 + 3.37sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.37sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.37sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.38sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.38sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.38sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.00sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786078197.40693736 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.09sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.09sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.09sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.09sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.09sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOobjective_server_nodeFound path in 5 iterations (0.00865342 s). ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.406861 ms (missed cycles : 7). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.406861 ms (missed cycles : 7).[0m ×2 + 4.32sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.33sINFOros2_control_node[2026-08-07 04:49:57.735] [info] Received new action goal ×2 + 4.33sINFOros2_control_node[2026-08-07 04:49:57.735] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774500 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774500 ms (missed cycles : 2).[0m ×2 + 5.54sWARNros2_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 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799668 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799668 ms (missed cycles : 2).[0m ×2
− skipped	Pick from Pose	pick_from_pose.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose Vector	pick_from_pose_vector.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick from Pose With Approval	pick_from_pose_with_approval.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick object	pick_object.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Pick up Object	pick_up_cube.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose Vector	place_at_pose_vector.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place at Pose with Approval	place_at_pose_with_approval.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Place Object	place_object.xml	0.0s	29 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.185380 ms (missed cycles : 4).[0m ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Received new action goal ×2 + 0.54sINFOros2_control_node[2026-08-07 04:50:36.327] [info] Accepted new action goal ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.907268 ms (missed cycles : 5).[0m ×2 + 1.94sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.94sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090643 ms (missed cycles : 2).[0m ×2 + 2.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-07 04:50:38.242] [info] Accepted new action goal ×2 + 2.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945387 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786078239.62807059 seconds ×3 + 3.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.98sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780457 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786078240.38459086 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Received new action goal ×2 + 4.79sINFOros2_control_node[2026-08-07 04:50:40.569] [info] Accepted new action goal ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902085 ms (missed cycles : 2).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779592 ms (missed cycles : 5).[0m ×2 + 6.69sINFOobjective_server_nodePlanning for 9 path waypoints. ×3
− skipped	Plan Move To Pose	plan_move_to_pose.xml	0.0s	3 errors · 20 warnings · 42 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160031 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160031 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340850 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321088 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321088 ms (missed cycles : 3).[0m ×2 + 3.00sINFOobjective_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 + 3.00sERRORobjective_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: 1786078250.71527958 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839457 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.839457 ms (missed cycles : 3).[0m ×2 + 3.29sWARNros2_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 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786078251.31237125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.88sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 3.89sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.90sINFOros2_control_node[2026-08-07 04:50:51.618] [info] Received new action goal ×2 + 3.90sINFOros2_control_node[2026-08-07 04:50:51.618] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341420 ms (missed cycles : 5). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.341420 ms (missed cycles : 5).[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122279 ms (missed cycles : 4). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.122279 ms (missed cycles : 4).[0m ×2
− skipped	Record Square Trajectory	record_square_trajectory.xml	0.0s	3 errors · 20 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4).[0m ×2 + 0.62sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_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: 1786078272.21850586 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2
− skipped	Reflect Poses Subtree	reflect_poses_subtree.xml	0.0s	3 errors · 20 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4).[0m ×2 + 0.62sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_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: 1786078272.21850586 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2
− skipped	Register CAD Part	register_cad_part.xml	0.0s	3 errors · 20 warnings · 131 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.710097 ms (missed cycles : 4).[0m ×2 + 0.62sWARNros2_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 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sERRORobjective_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: 1786078272.21850586 seconds ×3 + 2.86sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.87sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.87sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.87sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.87sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_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 + 4.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2
− skipped	Segment Bottle Subtree	segment_bottle_subtree.xml	0.0s	3 errors · 22 warnings · 134 info
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.176857 ms (missed cycles : 4).[0m ×2 + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512971 ms (missed cycles : 2).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786078272.21850586 seconds ×3 + 2.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.25sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.25sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.25sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.25sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.26sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.26sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844651 ms (missed cycles : 3).[0m ×2 + 2.86sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786078272.84693646 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.94sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786078272.92713475 seconds ×3 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786078273.52139664 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.56sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786078273.54363585 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.477354 ms (missed cycles : 5).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786078274.15562487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (5.5e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.30sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-07 04:51:14.282] [info] Accepted new action goal ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.129016 ms (missed cycles : 4).[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729556 ms (missed cycles : 2).[0m ×2 + 6.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2
− skipped	Stitch Multiple Point Clouds Together	stitch_multiple_point_clouds_together.xml	0.0s	3 errors · 25 warnings · 133 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694356 ms (missed cycles : 2).[0m ×2 + 0.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815240 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080664 ms (missed cycles : 4).[0m ×2 + 3.05sINFOobjective_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 + 3.05sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Got request to cancel active goal. ×2 + 3.06sINFOros2_control_node[2026-08-07 04:51:24.215] [info] Canceling active goal... ×2 + 3.06sERRORobjective_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: 1786078284.22320580 seconds ×3 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.598560 ms (missed cycles : 3).[0m ×2 + 3.12sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078284.86635900 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.888637 ms (missed cycles : 2).[0m ×2 + 4.18sINFOros2_control_nodeMuJoCo sim: 0.22% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078285.41648769 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786078286.02414680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.86sINFOobjective_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 + 4.86sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.86sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786078286.02587605 seconds ×3 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103061 ms (missed cycles : 4).[0m ×2 + 5.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786078286.62256908 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.46sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786078286.62319779 seconds ×3 + 5.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives

7 skip

− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core

3 pass8 skip

✓ passed	—	clear_snapshot.xml	8.8s	33 warnings · 585 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-07-04-47-08-826155-545233bfad2b-8934 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_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. + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002228 ms (missed cycles : 3). + 2.03sINFOros2_control_node-1process started with pid [8982] ×2 + 2.04sINFOmove_group-9process started with pid [9019] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9020] ×2 + 2.04sINFOwaypoint_manager_node-11process started with pid [9021] ×2 + 2.04sINFOmove_joint_resampler_node-12process started with pid [9022] ×2 + 2.04sINFOmove_end_effector_resampler_node-13process started with pid [9023] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9024] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9025] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9026] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9027] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9028] ×2 + 2.05sINFOweb_bridge-19process started with pid [9029] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9092] ×2 + 2.05sINFOvideo_server-21process started with pid [9094] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9095] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9096] ×2 + 2.06sINFOros2-2process started with pid [8983] ×2 + 2.06sINFOros2-3process started with pid [8984] ×2 + 2.06sINFOros2-4process started with pid [8985] ×2 + 2.06sINFOros2-5process started with pid [8986] ×2 + 2.06sINFOros2-6process started with pid [8987] ×2 + 2.06sINFOros2-7process started with pid [8988] ×2 + 2.06sINFOros2-8process started with pid [8989] ×2 + 2.08sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.13sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002228 ms (missed cycles : 3).[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 + 2.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF configuration loaded from /tmp/moveit-webrtc-3b6q58we/mediamtx.yml ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.99sINFOmove_group[2026-08-07 04:47:12.571] [moveit_pro_license] [info] ×2 + 2.99sINFOmove_group************************************************* ×4 + 2.99sINFOmove_group* MoveIt Pro License ×2 + 2.99sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983528 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.983528 ms (missed cycles : 2).[0m ×2 + 3.40sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.46sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.46sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.46sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.46sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.47sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.47sINFOwaypoint_manager_node[2026-08-07 04:47:13.053] [moveit_pro_license] [info] ×2 + 3.47sINFOwaypoint_manager_node************************************************* ×4 + 3.47sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.47sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.48sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.54sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.58sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.62sINFOmove_group ×4 + 3.62sINFOmove_group[92mYou can start planning now![0m ×2 + 3.64sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.64sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.64sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.64sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.77sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.77sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 4.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.01sINFOobjective_server_node[2026-08-07 04:47:14.594] [moveit_pro_license] [info] ×2 + 5.01sINFOobjective_server_node************************************************* ×4 + 5.01sINFOobjective_server_node* MoveIt Pro License ×2 + 5.01sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.12sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.12sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.13sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.13sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.30sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.30sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.63sINFOcomponent_container_mt[2026-08-07 04:47:15.213] [moveit_pro_license] [info] ×2 + 5.63sINFOcomponent_container_mt************************************************* ×4 + 5.63sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.63sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.72sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.72sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.72sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.72sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.72sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.72sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.72sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.72sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.73sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.73sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.73sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.73sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.73sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.73sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 5.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 5.82sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 5.82sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 5.82sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.82sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.82sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.82sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.82sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.82sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.82sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.83sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.83sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.83sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.83sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.83sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.83sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.84sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 5.84sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 5.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108843 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.108843 ms (missed cycles : 2).[0m ×2 + 6.13sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.13sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.13sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.13sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.18sINFOros2-5process has finished cleanly [pid 8986] ×2 + 6.24sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 6.24sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 6.31sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.32sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.32sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.32sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.32sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.33sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.35sINFOros2_control_node[2026-08-07 04:47:15.931] [info] Controller state will be published at 20 Hz. ×2 + 6.35sINFOros2_control_node[2026-08-07 04:47:15.931] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.68sINFOros2-8process has finished cleanly [pid 8989] ×2 + 6.74sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.74sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.74sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.74sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.74sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 6.74sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 6.79sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 6.79sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 6.80sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.80sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.80sINFOforce_torque_sensor_broadcasterconfigure successful + 6.80sINFOros2_control_nodeconfigure successful[0m ×2 + 6.80sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.80sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.81sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 6.81sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 7.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.13sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 7.13sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 7.13sINFOros2-2process has finished cleanly [pid 8983] ×2 + 7.18sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.18sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.18sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.18sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.18sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.18sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.18sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.19sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.19sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 7.25sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 7.31sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.35sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 7.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.49sINFOros2-4process has finished cleanly [pid 8985] ×2 + 7.53sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 7.53sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 7.53sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 7.53sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 7.53sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 7.53sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 7.54sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 7.54sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 7.57sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 7.58sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 7.58sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 7.58sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 7.58sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 7.58sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 7.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 7.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 7.59sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 7.59sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 7.87sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.90sINFOros2-3process has finished cleanly [pid 8984] ×2 + 7.91sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.91sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.91sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.91sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.98sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 7.98sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 8.02sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 8.02sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 8.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 8.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 8.02sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.02sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 8.04sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.05sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 8.05sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 8.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 8.05sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 8.06sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.06sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.07sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.07sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.37sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 8.37sINFOcontroller_managerLoading controller 'velocity_force_controller' + 8.37sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 8.37sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 8.41sINFOros2-6process has finished cleanly [pid 8987] ×2 + 8.44sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 8.44sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 8.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 8.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 8.49sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 8.49sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 8.51sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 8.51sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 8.63sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.83sINFOros2-7process has finished cleanly [pid 8988] ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 9.69sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 9.84sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.31sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.37sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 11.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3
✓ passed	—	vector_subtrees_example.xml	0.7s	28 warnings · 333 info
+ 0.00sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.04sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.04sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.04sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.04sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.04sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.05sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.08sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.08sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.41sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.48sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.55sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 0.56sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.91sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sINFOros2-7process has finished cleanly [pid 8988] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 2.34sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 4.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.7s	30 warnings · 401 info
+ 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.32sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.32sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.33sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.33sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sWARNobjective_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 + 0.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.69sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.73sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.73sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.77sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.77sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.78sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.09sINFOros2-3process has finished cleanly [pid 8984] ×2 + 1.10sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.10sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.22sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.22sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.24sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 1.25sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 1.60sINFOros2-6process has finished cleanly [pid 8987] ×2 + 1.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 1.71sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sINFOros2-7process has finished cleanly [pid 8988] ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 3.03sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.51sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2
− skipped	—	teleoperate.xml	0.1s	25 warnings · 333 info
+ 0.00sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.04sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.04sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.04sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.04sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.04sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.04sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.05sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.05sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.08sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.08sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.08sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.10sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 8984] ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.41sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.48sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.48sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.53sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.53sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.53sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.53sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.53sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.54sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.55sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.55sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 0.55sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 0.56sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.56sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.56sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.56sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.56sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.57sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.57sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.57sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.88sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.88sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.88sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.88sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.91sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.95sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.95sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.99sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.99sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.02sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 1.02sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.14sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.14sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.14sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.34sINFOros2-7process has finished cleanly [pid 8988] ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 2.34sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 4.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.09sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 5.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.81sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 5.81sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.82sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 5.82sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2
− skipped	—	createvector.xml	0.0s	27 warnings · 411 info
+ 0.00sINFOros2-5process has finished cleanly [pid 8986] ×2 + 0.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.13sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.51sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 8983] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 8985] ×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_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [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 + 1.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.40sINFOros2_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 + 1.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOros2-3process has finished cleanly [pid 8984] ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.80sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.80sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.19sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.19sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 2.23sINFOros2-6process has finished cleanly [pid 8987] ×2 + 2.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 2.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 2.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.33sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 2.34sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sINFOros2-7process has finished cleanly [pid 8988] ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	6 warnings · 88 info
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-07-04-47-08-826155-545233bfad2b-8934 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_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. + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002228 ms (missed cycles : 3). + 2.03sINFOros2_control_node-1process started with pid [8982] ×2 + 2.04sINFOmove_group-9process started with pid [9019] ×2 + 2.04sINFOparameter_manager_node-10process started with pid [9020] ×2 + 2.04sINFOwaypoint_manager_node-11process started with pid [9021] ×2 + 2.04sINFOmove_joint_resampler_node-12process started with pid [9022] ×2 + 2.04sINFOmove_end_effector_resampler_node-13process started with pid [9023] ×2 + 2.04sINFOobjective_server_node_main-14process started with pid [9024] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9025] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9026] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9027] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9028] ×2 + 2.05sINFOweb_bridge-19process started with pid [9029] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9092] ×2 + 2.05sINFOvideo_server-21process started with pid [9094] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9095] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9096] ×2 + 2.06sINFOros2-2process started with pid [8983] ×2 + 2.06sINFOros2-3process started with pid [8984] ×2 + 2.06sINFOros2-4process started with pid [8985] ×2 + 2.06sINFOros2-5process started with pid [8986] ×2 + 2.06sINFOros2-6process started with pid [8987] ×2 + 2.06sINFOros2-7process started with pid [8988] ×2 + 2.06sINFOros2-8process started with pid [8989] ×2 + 2.08sINFOcontroller_managerReceived robot description from topic. + 2.09sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.11sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.13sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.13sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.13sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.13sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.13sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.13sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002228 ms (missed cycles : 3).[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 + 2.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.26sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF configuration loaded from /tmp/moveit-webrtc-3b6q58we/mediamtx.yml ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.54sINFOvideo_server2026/08/07 04:47:12 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_trajectory_approval_if_user_available.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	27 warnings · 411 info
+ 0.00sINFOros2-5process has finished cleanly [pid 8986] ×2 + 0.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.13sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.51sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 8983] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 8985] ×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_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [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 + 1.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.40sINFOros2_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 + 1.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOros2-3process has finished cleanly [pid 8984] ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.80sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.80sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.19sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.19sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 2.23sINFOros2-6process has finished cleanly [pid 8987] ×2 + 2.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 2.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 2.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.33sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 2.34sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sINFOros2-7process has finished cleanly [pid 8988] ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	27 warnings · 411 info
+ 0.00sINFOros2-5process has finished cleanly [pid 8986] ×2 + 0.06sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.13sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.14sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.14sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.14sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.15sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] Controller state will be published at 20 Hz. ×2 + 0.17sINFOros2_control_node[2026-08-07 04:47:15.931] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.51sINFOros2-8process has finished cleanly [pid 8989] ×2 + 0.56sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.56sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.56sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.56sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOforce_torque_sensor_broadcasterconfigure successful + 0.62sINFOros2_control_nodeconfigure successful[0m ×2 + 0.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.63sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.63sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.63sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 0.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 0.95sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.95sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.95sINFOros2-2process has finished cleanly [pid 8983] ×2 + 1.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.07sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.13sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.18sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 1.18sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.18sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.18sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.18sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.18sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 1.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 1.32sINFOros2-4process has finished cleanly [pid 8985] ×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_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.36sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [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 + 1.40sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.40sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.40sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.40sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.40sINFOros2_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 + 1.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.72sINFOros2-3process has finished cleanly [pid 8984] ×2 + 1.73sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.73sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.80sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.80sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.84sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.84sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.84sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 1.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 1.87sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.88sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.89sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.89sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.19sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.19sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.19sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 2.23sINFOros2-6process has finished cleanly [pid 8987] ×2 + 2.26sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 2.26sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 2.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.33sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 2.34sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.46sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.46sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.65sINFOros2-7process has finished cleanly [pid 8988] ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 3.66sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 6.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.38sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.39sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2
− skipped	—	request_teleoperation.xml	0.0s	27 warnings · 401 info
+ 0.00sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.00sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.00sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.258887 ms (missed cycles : 5).[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.32sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.32sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.33sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.33sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.33sINFOros2-2process has finished cleanly [pid 8983] ×2 + 0.37sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.37sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.37sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.37sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.37sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.38sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.38sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.38sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.39sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.44sWARNobjective_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 + 0.51sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.55sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.55sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.55sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.55sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.69sINFOros2-4process has finished cleanly [pid 8985] ×2 + 0.73sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.73sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.73sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.73sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.73sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.74sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.74sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.77sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.77sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.77sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.77sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.77sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.77sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.78sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.78sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.79sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.07sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.09sINFOros2-3process has finished cleanly [pid 8984] ×2 + 1.10sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.10sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.10sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.10sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.17sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.22sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.22sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.22sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.22sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.22sINFOros2_control_node[2026-08-07 04:47:17.607] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078037.62273622 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sINFOros2_control_node[2026-08-07 04:47:17.630] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.24sINFOros2_control_node[2026-08-07 04:47:17.630] [info] Controller state will be published at 50 Hz. ×2 + 1.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078037.63297343 seconds ×3 + 1.25sINFOros2_control_node[2026-08-07 04:47:17.635] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.25sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.25sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 1.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 1.60sINFOros2-6process has finished cleanly [pid 8987] ×2 + 1.64sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 1.64sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 1.68sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.68sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 1.71sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.83sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.83sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.03sINFOros2-7process has finished cleanly [pid 8988] ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 3.03sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 4.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 5.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.74sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.77sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.77sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.40sINFOobjective_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 + 6.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.40sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.40sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.51sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 6.51sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion

10 skip

− skipped	—	interpolate_to_joint_state.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	25 warnings · 258 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2 + 7.34sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.38sINFOros2_control_nodeMuJoCo sim: 0.15% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.43sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 7.44sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.45sINFOros2_control_node[2026-08-07 04:47:25.409] [info] Received new action goal ×2 + 7.45sINFOros2_control_node[2026-08-07 04:47:25.409] [info] Accepted new action goal ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2

▾/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	25 warnings · 242 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745374 ms (missed cycles : 4).[0m ×2 + 0.04sINFOros2-6process has finished cleanly [pid 8987] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_5c_lx2s9 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ve2owupq --params-file /tmp/launch_params_8yjipova [0m ×2 + 0.11sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.097] [info] Controller state will be published at 10 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-07 04:47:18.098] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786078038.21782732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.27sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.27sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.46sINFOros2-7process has finished cleanly [pid 8988] ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.980899 ms (missed cycles : 2).[0m ×2 + 1.32sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786078039.27795362 seconds ×3 + 1.36sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.36sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.36sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.36sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.36sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.37sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.37sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.47sWARNros2_control_nodeCamera render tick took 1.84 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786078039.89349031 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786078039.95365572 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195926 ms (missed cycles : 3).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078040.60880327 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078040.62891555 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.438786 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078041.34213805 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078041.49267435 seconds ×3 + 3.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078042.13342881 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.19sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.21sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078042.17354441 seconds ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187463 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786078042.77522779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3.2725e-05 s). ×2 + 4.93sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Received new action goal ×2 + 4.95sINFOros2_control_node[2026-08-07 04:47:22.901] [info] Accepted new action goal ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934735 ms (missed cycles : 4).[0m ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226393 ms (missed cycles : 3).[0m ×2