115
Total objective tests
33
Objectives passed
0
Objectives failed
82
Objectives skipped
8.0s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass53 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 166 warnings · 293 info |
+ 0.00sINFOobjective_server_node[2026-08-10 20:58:36.602] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138366483 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138398312 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-10 20:58:37.309] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-10 20:58:37.376329620 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380818972 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380860693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-10 20:58:37.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_node[0;93m2026-08-10 20:58:37.860700905 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887731497 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887784580 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786395519.77977371 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.65sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786395520.44684744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2).[0m ×2 + 7.12sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 7.14sINFOros2_control_node[2026-08-10 20:58:43.741] [info] Received new action goal ×2 + 7.14sINFOros2_control_node[2026-08-10 20:58:43.741] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479270 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479270 ms (missed cycles : 2).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829525 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.829525 ms (missed cycles : 2).[0m ×2 + 8.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794504 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794504 ms (missed cycles : 2).[0m ×2 + 10.27sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.29sINFOros2_control_node[2026-08-10 20:58:46.892] [info] Received new action goal ×2 + 10.29sINFOros2_control_node[2026-08-10 20:58:46.892] [info] Accepted new action goal ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671721 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671721 ms (missed cycles : 2).[0m ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978622 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978622 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.892312 ms (missed cycles : 8). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.892312 ms (missed cycles : 8).[0m ×2 + 13.27sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.32sINFOros2_control_node[2026-08-10 20:58:49.924] [info] Received new action goal ×2 + 13.32sINFOros2_control_node[2026-08-10 20:58:49.924] [info] Accepted new action goal ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150288 ms (missed cycles : 2). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150288 ms (missed cycles : 2).[0m ×2 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681342 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681342 ms (missed cycles : 2).[0m ×2 + 15.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 16.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888895 ms (missed cycles : 2). + 16.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888895 ms (missed cycles : 2).[0m ×2 + 16.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.29sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.29sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.29sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.29sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937108 ms (missed cycles : 4). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937108 ms (missed cycles : 4).[0m ×2 + 18.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696756 ms (missed cycles : 6). + 18.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.696756 ms (missed cycles : 6).[0m ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.761160 ms (missed cycles : 7). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.761160 ms (missed cycles : 7).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683581 ms (missed cycles : 5). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683581 ms (missed cycles : 5).[0m ×2 + 20.74sWARNros2_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 + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024711 ms (missed cycles : 2). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.024711 ms (missed cycles : 2).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686680 ms (missed cycles : 3). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686680 ms (missed cycles : 3).[0m ×2 + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.997816 ms (missed cycles : 5). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.997816 ms (missed cycles : 5).[0m ×2 + 23.78sINFOobjective_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 + 23.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.78sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.78sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.78sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.78sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833208 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833208 ms (missed cycles : 2).[0m ×2 + 24.66sINFOros2_control_node[2026-08-10 20:59:01.260] [info] Received new action goal ×2 + 24.66sINFOros2_control_node[2026-08-10 20:59:01.260] [info] Accepted new action goal ×2 + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362679 ms (missed cycles : 2). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362679 ms (missed cycles : 2).[0m ×2 + 25.84sINFOobjective_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 + 25.85sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.13sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 26.17sINFOros2_control_node[2026-08-10 20:59:02.774] [info] Received new action goal ×2 + 26.17sINFOros2_control_node[2026-08-10 20:59:02.774] [info] Accepted new action goal ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481779 ms (missed cycles : 3). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481779 ms (missed cycles : 3).[0m ×2 + 27.50sWARNros2_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 + 27.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223707 ms (missed cycles : 2). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223707 ms (missed cycles : 2).[0m ×2 + 28.44sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 28.45sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.46sINFOros2_control_node[2026-08-10 20:59:05.061] [info] Received new action goal ×2 + 28.46sINFOros2_control_node[2026-08-10 20:59:05.061] [info] Accepted new action goal ×2 + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959229 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959229 ms (missed cycles : 3).[0m ×2 + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911559 ms (missed cycles : 8). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.911559 ms (missed cycles : 8).[0m ×2 + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557347 ms (missed cycles : 2). + 31.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.557347 ms (missed cycles : 2).[0m ×2 + 31.49sINFOros2_control_node[2026-08-10 20:59:08.091] [info] Received new action goal ×2 + 31.49sINFOros2_control_node[2026-08-10 20:59:08.091] [info] Accepted new action goal ×2 + 32.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771603 ms (missed cycles : 2). + 32.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771603 ms (missed cycles : 2).[0m ×2 + 33.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034927 ms (missed cycles : 2). + 33.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034927 ms (missed cycles : 2).[0m ×2 + 33.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 34.10sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 34.10sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.15sINFOros2_control_node[2026-08-10 20:59:10.752] [info] Received new action goal ×2 + 34.15sINFOros2_control_node[2026-08-10 20:59:10.753] [info] Accepted new action goal ×2 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684904 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684904 ms (missed cycles : 2).[0m ×2 + 35.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294532 ms (missed cycles : 4). + 35.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.294532 ms (missed cycles : 4).[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786895 ms (missed cycles : 3). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786895 ms (missed cycles : 3).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.518477 ms (missed cycles : 6). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.518477 ms (missed cycles : 6).[0m ×2 + 38.10sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092939 ms (missed cycles : 5). + 39.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092939 ms (missed cycles : 5).[0m ×2 + 39.78sWARNros2_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 + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386028 ms (missed cycles : 3). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386028 ms (missed cycles : 3).[0m ×2 + 41.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154000 ms (missed cycles : 2). + 41.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154000 ms (missed cycles : 2).[0m ×2 + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857994 ms (missed cycles : 2). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857994 ms (missed cycles : 2).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693725 ms (missed cycles : 2). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693725 ms (missed cycles : 2).[0m ×2 + 44.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823263 ms (missed cycles : 2). + 44.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823263 ms (missed cycles : 2).[0m ×2 + 44.81sINFOros2_control_node[2026-08-10 20:59:21.414] [info] Received new action goal ×2 + 44.81sINFOros2_control_node[2026-08-10 20:59:21.414] [info] Accepted new action goal ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899647 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899647 ms (missed cycles : 2).[0m ×2 + 45.97sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786395562.57048821 seconds ×3 + 46.49sWARNros2_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 + 46.77sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786395563.37411141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.357550 ms (missed cycles : 6). + 46.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.357550 ms (missed cycles : 6).[0m ×2 + 47.95sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 47.96sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.98sINFOros2_control_node[2026-08-10 20:59:24.579] [info] Received new action goal ×2 + 47.98sINFOros2_control_node[2026-08-10 20:59:24.579] [info] Accepted new action goal ×2 + 48.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958118 ms (missed cycles : 2). + 48.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958118 ms (missed cycles : 2).[0m ×2 + 49.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381675 ms (missed cycles : 3). + 49.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381675 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.7s | 21 errors · 120 warnings · 327 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2).[0m ×2 + 0.33sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×16 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395577.91381168 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395578.53334236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_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 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.31sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Received new action goal ×2 + 2.31sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2).[0m ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395580.27236271 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786395580.89712405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.69sINFOobjective_server_nodeFound path in 5 iterations (0.00656277 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.78sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301509 ms (missed cycles : 4). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301509 ms (missed cycles : 4).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865127 ms (missed cycles : 5). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.865127 ms (missed cycles : 5).[0m ×2 + 9.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059954 ms (missed cycles : 4). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059954 ms (missed cycles : 4).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955447 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955447 ms (missed cycles : 3).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464434 ms (missed cycles : 6). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464434 ms (missed cycles : 6).[0m ×2 + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169685 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169685 ms (missed cycles : 2).[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742832 ms (missed cycles : 3). + 14.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.742832 ms (missed cycles : 3).[0m ×2 + 15.02sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000269 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.000269 ms (missed cycles : 4).[0m ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400635 ms (missed cycles : 2). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400635 ms (missed cycles : 2).[0m ×2 + 17.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850878 ms (missed cycles : 3). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850878 ms (missed cycles : 3).[0m ×2 + 18.48sINFOobjective_server_nodeFound path in 4 iterations (0.00378725 s). ×2 + 18.56sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.60sINFOobjective_server_nodeFound path in 14 iterations (0.00642273 s). ×2 + 18.64sINFOobjective_server_nodePath shortcutter: [X_________________________X_____________X_______________X] ×2 + 18.68sINFOobjective_server_nodeFound path in 2 iterations (0.00629981 s). ×2 + 18.73sINFOobjective_server_nodePath shortcutter: [X_____________________________X___________________X] ×2 + 18.76sINFOobjective_server_nodeFound path in 0 iterations (5.25e-07 s). ×2 + 18.81sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.84sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 18.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.92sINFOobjective_server_nodeFound path in 12 iterations (0.00811096 s). ×2 + 19.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 19.05sINFOobjective_server_nodeFound path in 1 iterations (0.00699856 s). ×2 + 19.11sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 19.13sINFOobjective_server_nodeFound path in 0 iterations (2.12e-07 s). ×2 + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060369 ms (missed cycles : 2). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.060369 ms (missed cycles : 2).[0m ×2 + 19.17sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.19sINFOobjective_server_nodeFound path in 4 iterations (0.00588881 s). ×2 + 19.29sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________X] ×2 + 19.32sINFOobjective_server_nodeFound path in 4 iterations (0.00329631 s). ×2 + 19.43sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.46sINFOobjective_server_nodeFound path in 1 iterations (0.00598817 s). ×2 + 19.52sINFOobjective_server_nodePath shortcutter: [X__________________________________X_____________________________X] ×2 + 19.54sINFOobjective_server_nodeFound path in 0 iterations (1.96e-07 s). ×2 + 19.59sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.62sINFOobjective_server_nodeFound path in 26 iterations (0.0132362 s). ×2 + 19.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X______________________X] ×2 + 19.74sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 19.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 19.86sINFOobjective_server_nodeFound path in 0 iterations (4.71e-07 s). ×2 + 19.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 20.02sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 20.23sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________X] ×2 + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963366 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963366 ms (missed cycles : 2).[0m ×2 + 20.48sINFOros2_control_node[2026-08-10 20:59:56.862] [info] Received new action goal ×2 + 20.48sINFOros2_control_node[2026-08-10 20:59:56.862] [info] Accepted new action goal ×2 + 20.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.462409 ms (missed cycles : 7). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.462409 ms (missed cycles : 7).[0m ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.097700 ms (missed cycles : 8). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.097700 ms (missed cycles : 8).[0m ×2 + 23.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501457 ms (missed cycles : 2). + 23.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501457 ms (missed cycles : 2).[0m ×2 + 24.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799803 ms (missed cycles : 2). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799803 ms (missed cycles : 2).[0m ×2 + 25.49sINFOros2_control_node[2026-08-10 21:00:01.865] [info] Received new action goal ×2 + 25.49sINFOros2_control_node[2026-08-10 21:00:01.865] [info] Accepted new action goal ×2 + 25.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129163 ms (missed cycles : 2). + 25.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129163 ms (missed cycles : 2).[0m ×2 + 26.80sWARNros2_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 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442674 ms (missed cycles : 4). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.442674 ms (missed cycles : 4).[0m ×2 + 27.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 27.11sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 27.12sINFOros2_control_node[2026-08-10 21:00:03.501] [info] Received new action goal ×2 + 27.12sINFOros2_control_node[2026-08-10 21:00:03.501] [info] Accepted new action goal ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771395 ms (missed cycles : 4). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.771395 ms (missed cycles : 4).[0m ×2 + 28.33sWARNobjective_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 + 28.33sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 28.37sINFOros2_control_node[2026-08-10 21:00:04.753] [info] Received new action goal ×2 + 28.37sINFOros2_control_node[2026-08-10 21:00:04.753] [info] Accepted new action goal ×2 + 28.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002096 ms (missed cycles : 5). + 28.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002096 ms (missed cycles : 5).[0m ×2 + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4).[0m ×2 + 31.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3). + 31.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3).[0m ×2 + 32.03sWARNros2_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 + 32.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3).[0m ×2 + 33.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2).[0m ×2 + 33.56sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786395609.93730879 seconds ×3 + 33.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 33.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 34.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786395610.60680628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2). + 34.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2).[0m ×2 + 34.45sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 34.45sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.46sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Received new action goal ×2 + 34.46sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Accepted new action goal ×2 + 35.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3). + 35.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3).[0m ×2 + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 18.4s | 3 errors · 80 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.40sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_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 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 2.12sERRORobjective_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: 1786395442.91663957 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693169 ms (missed cycles : 5). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.693169 ms (missed cycles : 5).[0m ×2 + 7.59sWARNros2_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 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337378 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337378 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118481 ms (missed cycles : 7). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.118481 ms (missed cycles : 7).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703578 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.703578 ms (missed cycles : 2).[0m ×2 + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942175 ms (missed cycles : 2). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942175 ms (missed cycles : 2).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679673 ms (missed cycles : 2). + 12.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679673 ms (missed cycles : 2).[0m ×2 + 13.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044196 ms (missed cycles : 2). + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044196 ms (missed cycles : 2).[0m ×2 + 13.62sWARNros2_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 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940810 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940810 ms (missed cycles : 2).[0m ×2 + 14.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 14.88sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 14.89sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 15.18sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 15.19sINFOobjective_server_nodeFound path in 0 iterations (2.63e-07 s). ×2 + 15.21sINFOobjective_server_nodeFound path in 0 iterations (2.22e-07 s). ×2 + 15.25sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 15.27sINFOobjective_server_nodeFound path in 1 iterations (0.00322291 s). ×2 + 15.38sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 15.46sINFOros2_control_node[2026-08-10 20:57:36.259] [info] Received new action goal ×2 + 15.46sINFOros2_control_node[2026-08-10 20:57:36.259] [info] Accepted new action goal ×2 + 15.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222112 ms (missed cycles : 5). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222112 ms (missed cycles : 5).[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493579 ms (missed cycles : 2). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493579 ms (missed cycles : 2).[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014631 ms (missed cycles : 5). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014631 ms (missed cycles : 5).[0m ×2 + 17.93sINFOros2_control_node[2026-08-10 20:57:38.731] [info] Received new action goal ×2 + 17.93sINFOros2_control_node[2026-08-10 20:57:38.731] [info] Accepted new action goal ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2).[0m ×2 + 19.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 19.83sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 19.83sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 19.84sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Received new action goal ×2 + 19.84sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Accepted new action goal ×2 + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4).[0m ×2 + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2). + 21.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2).[0m ×2 + 21.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786395462.03000259 seconds ×3 + 21.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786395462.64907050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786395462.72919941 seconds ×3 + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2).[0m ×2 + 22.57sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786395463.37069273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.68sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 22.68sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 22.70sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Received new action goal ×2 + 22.70sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Accepted new action goal ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563806 ms (missed cycles : 4).[0m ×2 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00380614 s). ×2 + 0.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.93sINFOros2_control_node[2026-08-10 20:58:13.718] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-10 20:58:13.718] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920173 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920173 ms (missed cycles : 5).[0m ×2 + 1.37sINFOros2_control_node[2026-08-10 20:58:14.160] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-10 20:58:14.160] [info] Accepted new action goal ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751782 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751782 ms (missed cycles : 5).[0m ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868562 ms (missed cycles : 2). + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868562 ms (missed cycles : 2).[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.16sERRORobjective_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: 1786395495.94713187 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786395496.72471690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.12sINFOros2_control_node[2026-08-10 20:58:16.908] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-10 20:58:16.908] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491399 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491399 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133560 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133560 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917328 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917328 ms (missed cycles : 2).[0m ×2 + 6.64sINFOros2_control_node[2026-08-10 20:58:19.430] [info] Received new action goal ×2 + 6.64sINFOros2_control_node[2026-08-10 20:58:19.430] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673933 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.673933 ms (missed cycles : 5).[0m ×2 + 8.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974228 ms (missed cycles : 2). + 8.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974228 ms (missed cycles : 2).[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937947 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937947 ms (missed cycles : 2).[0m ×2 + 9.61sWARNros2_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 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739187 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.739187 ms (missed cycles : 3).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361363 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361363 ms (missed cycles : 3).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2). + 12.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2).[0m ×2 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786395507.98986793 seconds ×3 + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2).[0m ×2 + 15.88sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786395508.66804743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.92sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.93sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.95sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786395508.74082351 seconds ×3 + 16.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.55sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786395509.34188294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6).[0m ×2 + 16.67sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 16.67sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.68sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Received new action goal ×2 + 16.68sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Accepted new action goal ×2 + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 9 errors · 60 warnings · 197 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857994 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857994 ms (missed cycles : 2).[0m ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693725 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.693725 ms (missed cycles : 2).[0m ×2 + 1.67sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.67sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.67sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.67sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.67sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.68sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.68sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823263 ms (missed cycles : 2). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823263 ms (missed cycles : 2).[0m ×2 + 2.54sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.54sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.55sINFOros2_control_node[2026-08-10 20:59:21.414] [info] Received new action goal ×2 + 2.56sINFOros2_control_node[2026-08-10 20:59:21.414] [info] Accepted new action goal ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899647 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899647 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786395562.57048821 seconds ×3 + 3.79sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.79sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.80sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.80sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.80sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.80sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.23sWARNros2_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 + 4.51sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786395563.37411141 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.357550 ms (missed cycles : 6). + 4.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.357550 ms (missed cycles : 6).[0m ×2 + 5.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.69sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.72sINFOros2_control_node[2026-08-10 20:59:24.579] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-08-10 20:59:24.579] [info] Accepted new action goal ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958118 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958118 ms (missed cycles : 2).[0m ×2 + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381675 ms (missed cycles : 3). + 6.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.381675 ms (missed cycles : 3).[0m ×2 + 7.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150229 ms (missed cycles : 4). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150229 ms (missed cycles : 4).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.552264 ms (missed cycles : 7). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.552264 ms (missed cycles : 7).[0m ×2 + 9.42sINFOobjective_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 + 9.42sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.42sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.42sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.42sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247515 ms (missed cycles : 4). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247515 ms (missed cycles : 4).[0m ×2 + 10.25sWARNros2_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 + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800286 ms (missed cycles : 2). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800286 ms (missed cycles : 2).[0m ×2 + 11.80sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 11.81sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.82sINFOros2_control_node[2026-08-10 20:59:30.678] [info] Received new action goal ×2 + 11.82sINFOros2_control_node[2026-08-10 20:59:30.678] [info] Accepted new action goal ×2 + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207088 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207088 ms (missed cycles : 4).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869257 ms (missed cycles : 2). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869257 ms (missed cycles : 2).[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878887 ms (missed cycles : 5). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878887 ms (missed cycles : 5).[0m ×2 + 15.42sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786395574.28428197 seconds ×3 + 15.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2).[0m ×2 + 16.04sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395574.89561534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.18sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 16.18sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.19sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Received new action goal ×2 + 16.19sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7).[0m ×2 + 17.46sINFOobjective_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 + 17.46sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2).[0m ×2 + 17.85sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 17.87sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 56 errors · 42 warnings · 284 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395671.52518559 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.24sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.24sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.81sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786395672.12132716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.81sINFOobjective_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 + 2.81sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.81sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786395672.12331104 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786395672.79127479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786395672.79173851 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395673.38601947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5).[0m ×2 + 4.97sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 5.33sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786395674.64615273 seconds ×3 + 5.37sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088341 ms (missed cycles : 4). + 6.16sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088341 ms (missed cycles : 4).[0m ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068061 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.068061 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260040 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260040 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705674 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.705674 ms (missed cycles : 3).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312504 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312504 ms (missed cycles : 2).[0m ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854504 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.854504 ms (missed cycles : 2).[0m ×2 + 11.07sWARNros2_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 + 11.16sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.18sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORweb_video_auth_proxy-23process has died [pid 9188, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.18sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.21sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.21sERRORweb_bridge_auth_proxy-22process has died [pid 9187, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.21sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.25sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.26sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.27sINFOvideo_server-21process has finished cleanly [pid 9186] ×2 + 11.27sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.28sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.30sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.31sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.32sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.32sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.33sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.35sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.36sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.37sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.39sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.40sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.40sINFOcontroller_managerShutdown request received.... + 11.40sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.40sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.40sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.40sINFOvideo_server2026/08/10 21:01:20 INF shutting down gracefully ×2 + 11.40sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.40sINFOvideo_server2026/08/10 21:01:20 INF [WebRTC] closing ×2 + 11.40sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.40sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.40sINFOvideo_server2026/08/10 21:01:20 INF [RTSP] closing ×2 + 11.40sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.40sINFOvideo_server2026/08/10 21:01:20 INF waiting for running hooks ×2 + 11.40sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.40sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.40sINFOcontroller_managerShutting down the controller manager. + 11.40sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.40sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.41sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.41sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.41sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.41sERRORmove_groupStack trace (most recent call last) in thread 9471: ×2 + 11.41sERRORmove_group-9process has died [pid 9111, 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_7iutowx8 --params-file /tmp/launch_params_ru4saezz --params-file /tmp/launch_params_ii6by3g6 --params-file /tmp/launch_params_b_w6l742 --params-file /tmp/launch_params_s3ryv3it --params-file /tmp/launch_params_ky10i50m']. ×2 + 11.41sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.41sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f2d03a63, in __clone ×2 + 11.41sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f2c76aa3, in ×2 + 11.41sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f2f08db3, in ×2 + 11.41sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f04f3675fe7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.41sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f329a620, in rclcpp::Rate::sleep() ×2 + 11.41sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f31dcd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.41sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f04f319e087, in ×2 + 11.41sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f2ed7390, in __cxa_throw ×2 + 11.41sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f2ec1a54, in std::terminate() ×2 + 11.41sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f2ed70d9, in ×2 + 11.41sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f04f2ec1ff4, in ×2 + 11.41sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f2c028fe, in abort ×2 + 11.41sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f2c1f27d, in raise ×2 + 11.41sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f04f2c78b2c, in pthread_kill ×2 + 11.41sERRORmove_groupAborted (Signal sent by tkill() 9111 0) ×2 + 11.41sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.41sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.41sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.41sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.41sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.42sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.42sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.42sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.42sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.42sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.42sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.42sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.61sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.61sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.61sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.30sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9185] ×2 + 12.30sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.38sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9115] ×2 + 12.39sINFOui_teleop_bridge-18process has finished cleanly [pid 9120] ×2 + 12.39sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9114] ×2 + 12.39sINFOexecute_objective_bridge-17process has finished cleanly [pid 9119] ×2 + 12.40sINFOcomponent_container_mt-16process has finished cleanly [pid 9118] ×2 + 12.44sINFOwaypoint_manager_node-11process has finished cleanly [pid 9113] ×2 + 12.45sINFOparameter_manager_node-10process has finished cleanly [pid 9112] ×2 + 12.46sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.53sINFOobjective_server_node[0;m[2026-08-10 21:01:21.844] [moveit_pro_license] [info] ×2 + 12.53sINFOobjective_server_node************************************************* ×4 + 12.53sINFOobjective_server_node* MoveIt Pro License ×2 + 12.53sINFOobjective_server_node* Application has successfully terminated ×2 + 13.13sINFOobjective_server_node_main-14process has finished cleanly [pid 9116] ×2 + 13.13sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.51sINFOcomponent_container_mt-15process has finished cleanly [pid 9117] ×2 + 13.64sINFOweb_bridge-19process has finished cleanly [pid 9121] ×2 + 13.64sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.03sINFOros2_control_node-1process has finished cleanly [pid 9074] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 60 warnings · 168 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786395462.03000259 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786395462.64907050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786395462.72919941 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786395463.37069273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839301 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839301 ms (missed cycles : 2).[0m ×2 + 6.84sWARNros2_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 + 7.26sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 7.26sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.28sINFOros2_control_node[2026-08-10 20:57:46.854] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-08-10 20:57:46.854] [info] Accepted new action goal ×2 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123600 ms (missed cycles : 2). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123600 ms (missed cycles : 2).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240348 ms (missed cycles : 3). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.240348 ms (missed cycles : 3).[0m ×2 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (4.26e-07 s). ×2 + 9.63sINFOros2_control_node[2026-08-10 20:57:49.202] [info] Received new action goal ×2 + 9.63sINFOros2_control_node[2026-08-10 20:57:49.202] [info] Accepted new action goal ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378183 ms (missed cycles : 2). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378183 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 11.97sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 11.98sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 11.98sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 12.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 14.32sINFOobjective_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 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 14.33sERRORobjective_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: 1786395473.90185022 seconds ×3 + 14.96sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 15.17sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 15.17sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.18sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 57 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.01sERRORobjective_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: 1786395653.30220771 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.16sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979074 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979074 ms (missed cycles : 3).[0m ×2 + 7.47sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.47sINFOros2_control_node[2026-08-10 21:00:58.761] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-08-10 21:00:58.761] [info] Accepted new action goal ×2 + 7.47sINFOros2_control_node[2026-08-10 21:00:58.761] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142716 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.142716 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273004 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273004 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332429 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332429 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2).[0m ×2 + 10.92sWARNros2_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 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5).[0m ×2 + 12.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6).[0m ×2 + 14.52sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Got request to cancel active goal. ×2 + 14.52sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Canceling active goal... ×2 + 14.52sERRORobjective_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: 1786395665.81224632 seconds ×3 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395666.40506196 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422595 ms (missed cycles : 2). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422595 ms (missed cycles : 2).[0m ×2 + 16.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3).[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 1.753248 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753248 ms (missed cycles : 2).[0m ×2 + 0.14sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.40sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.40sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.40sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786395482.34405780 seconds ×3 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762855 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762855 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782992 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782992 ms (missed cycles : 2).[0m ×2 + 2.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.89sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.89sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.89sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812960 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812960 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786395485.42340946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.72sINFOros2_control_node[2026-08-10 20:58:05.637] [info] Received new action goal ×2 + 3.72sINFOros2_control_node[2026-08-10 20:58:05.637] [info] Accepted new action goal ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483192 ms (missed cycles : 5). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483192 ms (missed cycles : 5).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651221 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651221 ms (missed cycles : 3).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966680 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966680 ms (missed cycles : 2).[0m ×2 + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668734 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668734 ms (missed cycles : 2).[0m ×2 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.83sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.83sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 8.10sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.10sINFOobjective_server_nodeFound path in 0 iterations (2.92e-07 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (2.79e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.17sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 8.20sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.22sINFOobjective_server_nodeFound path in 1 iterations (0.00279758 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 1 iterations (0.00559418 s). ×2 + 8.39sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 8.44sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.57sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.58sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 8.69sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.652412 ms (missed cycles : 6). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.652412 ms (missed cycles : 6).[0m ×2 + 8.81sINFOros2_control_node[2026-08-10 20:58:10.720] [info] Received new action goal ×2 + 8.81sINFOros2_control_node[2026-08-10 20:58:10.720] [info] Accepted new action goal ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672867 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672867 ms (missed cycles : 2).[0m ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563806 ms (missed cycles : 4). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563806 ms (missed cycles : 4).[0m ×2 + 11.51sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.52sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 11.52sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.53sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 11.59sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.62sINFOobjective_server_nodeFound path in 1 iterations (0.00380614 s). ×2 + 11.73sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.80sINFOros2_control_node[2026-08-10 20:58:13.718] [info] Received new action goal ×2 + 11.80sINFOros2_control_node[2026-08-10 20:58:13.718] [info] Accepted new action goal ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920173 ms (missed cycles : 5). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920173 ms (missed cycles : 5).[0m ×2 + 12.25sINFOros2_control_node[2026-08-10 20:58:14.160] [info] Received new action goal ×2 + 12.25sINFOros2_control_node[2026-08-10 20:58:14.160] [info] Accepted new action goal ×2 + 12.79sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751782 ms (missed cycles : 5). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751782 ms (missed cycles : 5).[0m ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868562 ms (missed cycles : 2). + 13.98sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868562 ms (missed cycles : 2).[0m ×2 + 13.99sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.99sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.99sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.99sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.03sERRORobjective_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: 1786395495.94713187 seconds ×3 + 14.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.81sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786395496.72471690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 14.99sINFOros2_control_node[2026-08-10 20:58:16.908] [info] Received new action goal ×2 + 14.99sINFOros2_control_node[2026-08-10 20:58:16.908] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491399 ms (missed cycles : 2). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491399 ms (missed cycles : 2).[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133560 ms (missed cycles : 2). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133560 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917328 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917328 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.0s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 0.25sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 0.36sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 0.40sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.40sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.40sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.40sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.98sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.99sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.99sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.04sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.25sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 3.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 3.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.01sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.01sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 + 6.07sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727212 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727212 ms (missed cycles : 5).[0m ×2 + 6.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.50sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 6.50sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.52sINFOros2_control_node[2026-08-10 20:57:15.144] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-08-10 20:57:15.144] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045826 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045826 ms (missed cycles : 2).[0m ×2 + 7.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625959 ms (missed cycles : 5). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.625959 ms (missed cycles : 5).[0m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034628 ms (missed cycles : 2). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034628 ms (missed cycles : 2).[0m ×2 + 10.24sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.26sINFOros2_control_node[2026-08-10 20:57:18.885] [info] Received new action goal ×2 + 10.26sINFOros2_control_node[2026-08-10 20:57:18.885] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 13.57sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 13.57sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.59sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 13.59sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 13.67sWARNros2_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 + 14.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 14.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 14.27sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.27sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 14.27sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 14.29sERRORobjective_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: 1786395442.91663957 seconds ×3 + 14.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.30sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.30sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.31sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.31sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.04sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 15.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 15.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.87sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.87sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 15.87sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386461 ms (missed cycles : 6). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.386461 ms (missed cycles : 6).[0m ×2 + 8.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233575 ms (missed cycles : 5). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.233575 ms (missed cycles : 5).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298947 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298947 ms (missed cycles : 2).[0m ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870355 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870355 ms (missed cycles : 2).[0m ×2 + 12.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339720 ms (missed cycles : 4). + 12.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339720 ms (missed cycles : 4).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671623 ms (missed cycles : 2). + 13.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671623 ms (missed cycles : 2).[0m ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200483 ms (missed cycles : 4). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200483 ms (missed cycles : 4).[0m ×2 + 14.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.76sERRORobjective_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: 1786395631.80475044 seconds ×3 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321918 ms (missed cycles : 2). + 15.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321918 ms (missed cycles : 2).[0m ×2 + 15.39sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786395632.43331289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.69sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 15.71sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.72sINFOros2_control_node[2026-08-10 21:00:32.768] [info] Received new action goal ×2 + 15.72sINFOros2_control_node[2026-08-10 21:00:32.768] [info] Accepted new action goal ×2 + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3).[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582355 ms (missed cycles : 4). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582355 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.9s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289815 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289815 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619326 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619326 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669731 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669731 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700399 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700399 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786395642.37668681 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921997 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921997 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786395642.99192452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-10 21:00:43.116] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-10 21:00:43.116] [info] Accepted new action goal ×2 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774689 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774689 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518837 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518837 ms (missed cycles : 2).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816465 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816465 ms (missed cycles : 2).[0m ×2 + 8.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394378 ms (missed cycles : 4). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.394378 ms (missed cycles : 4).[0m ×2 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066370 ms (missed cycles : 4). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066370 ms (missed cycles : 4).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474256 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474256 ms (missed cycles : 3).[0m ×2 + 10.71sWARNros2_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 + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2).[0m ×2 + 12.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 12.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 14.65sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.66sERRORobjective_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: 1786395653.30220771 seconds ×3 + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 15.30sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.34sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.36sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.36sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 15.98sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.00sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 16.00sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 16.68sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.76sWARNros2_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 + 16.79sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 16.79sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.81sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 16.81sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.9s | 3 errors · 63 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786395609.93730879 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786395610.60680628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.36sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775830 ms (missed cycles : 5). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.775830 ms (missed cycles : 5).[0m ×2 + 7.94sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 7.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.99sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.99sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.23sINFOros2_control_nodeMuJoCo sim: 0.37% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.27sINFOobjective_server_nodeFound path in 0 iterations (2.44e-07 s). ×2 + 8.27sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.28sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 8.28sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.29sINFOobjective_server_nodeFound path in 0 iterations (2.14e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 1 iterations (0.00310907 s). ×2 + 8.47sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.51sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374108 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.374108 ms (missed cycles : 2).[0m ×2 + 8.73sINFOros2_control_node[2026-08-10 21:00:15.209] [info] Received new action goal ×2 + 8.73sINFOros2_control_node[2026-08-10 21:00:15.209] [info] Accepted new action goal ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.061091 ms (missed cycles : 6). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.061091 ms (missed cycles : 6).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 11.20sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 11.21sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 12.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 13.10sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.11sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 13.11sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 13.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 14.32sINFOobjective_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 + 14.32sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 14.32sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 14.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 15.02sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 15.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 15.19sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.20sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 17.11sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 153 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668481 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668481 ms (missed cycles : 2).[0m ×2 + 8.03sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.07sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.08sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731735 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.731735 ms (missed cycles : 2).[0m ×2 + 8.36sINFOobjective_server_nodeFound path in 0 iterations (3.21e-07 s). ×2 + 8.36sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.37sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 8.37sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.46sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 8.50sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.52sINFOobjective_server_nodeFound path in 1 iterations (0.00309497 s). ×2 + 8.62sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 1 iterations (0.00445465 s). ×2 + 8.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.77sINFOobjective_server_nodeFound path in 0 iterations (5.37e-07 s). ×2 + 8.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). ×2 + 9.03sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.16sINFOros2_control_node[2026-08-10 20:57:59.616] [info] Received new action goal ×2 + 9.16sINFOros2_control_node[2026-08-10 20:57:59.616] [info] Accepted new action goal ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940262 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940262 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867068 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.867068 ms (missed cycles : 2).[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753248 ms (missed cycles : 2). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753248 ms (missed cycles : 2).[0m ×2 + 11.60sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 11.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 11.86sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 11.86sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 11.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786395482.34405780 seconds ×3 + 12.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762855 ms (missed cycles : 2). + 12.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762855 ms (missed cycles : 2).[0m ×2 + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782992 ms (missed cycles : 2). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782992 ms (missed cycles : 2).[0m ×2 + 13.69sWARNros2_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 + 14.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812960 ms (missed cycles : 2). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812960 ms (missed cycles : 2).[0m ×2 + 14.96sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786395485.42340946 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sINFOobjective_server_nodeFound path in 0 iterations (4.88e-07 s). ×2 + 15.18sINFOros2_control_node[2026-08-10 20:58:05.637] [info] Received new action goal ×2 + 15.18sINFOros2_control_node[2026-08-10 20:58:05.637] [info] Accepted new action goal ×2 + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483192 ms (missed cycles : 5). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.483192 ms (missed cycles : 5).[0m ×2 + 16.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651221 ms (missed cycles : 3). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651221 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.6s | 3 errors · 60 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870355 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339720 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339720 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671623 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671623 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200483 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200483 ms (missed cycles : 4).[0m ×2 + 3.46sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sERRORobjective_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: 1786395631.80475044 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321918 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321918 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786395632.43331289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.76sINFOros2_control_node[2026-08-10 21:00:32.768] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-08-10 21:00:32.768] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582355 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582355 ms (missed cycles : 4).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.001773 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.001773 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311091 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311091 ms (missed cycles : 2).[0m ×2 + 8.79sINFOros2_control_node[2026-08-10 21:00:36.791] [info] Received new action goal ×2 + 8.79sINFOros2_control_node[2026-08-10 21:00:36.791] [info] Accepted new action goal ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414925 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414925 ms (missed cycles : 4).[0m ×2 + 10.12sWARNros2_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 + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289815 ms (missed cycles : 4). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289815 ms (missed cycles : 4).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619326 ms (missed cycles : 4). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619326 ms (missed cycles : 4).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669731 ms (missed cycles : 2). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669731 ms (missed cycles : 2).[0m ×2 + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700399 ms (missed cycles : 3). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700399 ms (missed cycles : 3).[0m ×2 + 14.37sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786395642.37668681 seconds ×3 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921997 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921997 ms (missed cycles : 3).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786395642.99192452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.10sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 15.10sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.11sINFOros2_control_node[2026-08-10 21:00:43.116] [info] Received new action goal ×2 + 15.11sINFOros2_control_node[2026-08-10 21:00:43.116] [info] Accepted new action goal ×2 + 15.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774689 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774689 ms (missed cycles : 2).[0m ×2 + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518837 ms (missed cycles : 2). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518837 ms (missed cycles : 2).[0m ×2 + 17.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.02sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.3s | 48 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786395508.66804743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786395508.74082351 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.54sWARNros2_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 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786395509.34188294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Accepted new action goal ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786395511.47202826 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713665 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786395513.07366323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065409 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065409 ms (missed cycles : 6).[0m ×2 + 5.61sWARNros2_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 ×4 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_node[2026-08-10 20:58:34.706] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.89sINFOobjective_server_node[0;93m2026-08-10 20:58:35.552447182 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-10 20:58:35.552487576 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686463 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686463 ms (missed cycles : 2).[0m ×2 + 7.93sINFOobjective_server_node[2026-08-10 20:58:36.602] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2).[0m ×2 + 8.47sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138366483 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.47sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138398312 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.65sINFOobjective_server_node[2026-08-10 20:58:37.309] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.71sINFOobjective_server_node[0;93m2026-08-10 20:58:37.376329620 [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 + 8.71sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380818972 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.71sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380860693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.78sINFOobjective_server_node[2026-08-10 20:58:37.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4). + 9.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4).[0m ×2 + 9.19sINFOobjective_server_node[0;93m2026-08-10 20:58:37.860700905 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.22sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887731497 [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 + 9.22sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887784580 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2).[0m ×2 + 11.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786395519.77977371 seconds ×3 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2).[0m ×2 + 11.78sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786395520.44684744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.78sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.78sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.86sINFOobjective_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 + 11.87sINFOobjective_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 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2).[0m ×2 + 12.15sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 12.15sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.20sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Received new action goal ×2 + 12.20sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Accepted new action goal ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2).[0m ×2 + 14.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2). + 14.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 5.7s | 3 errors · 45 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Canceling active goal... ×2 + 3.94sERRORobjective_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: 1786395665.81224632 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395666.40506196 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 2.422595 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422595 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5).[0m ×2 + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2).[0m ×2 + 9.65sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395671.52518559 seconds ×3 + 10.25sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786395672.12132716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.25sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 10.25sINFOobjective_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 + 10.25sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 10.25sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786395672.12331104 seconds ×3 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3).[0m ×2 + 10.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786395672.79127479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.92sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786395672.79173851 seconds ×3 + 11.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395673.38601947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5).[0m ×2 + 12.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786395507.98986793 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786395508.66804743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786395508.74082351 seconds ×3 + 3.94sWARNros2_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 + 4.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786395509.34188294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786395511.47202826 seconds ×3 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713665 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713665 ms (missed cycles : 2).[0m ×2 + 7.80sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786395513.07366323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065409 ms (missed cycles : 6). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065409 ms (missed cycles : 6).[0m ×2 + 9.00sWARNros2_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 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2).[0m ×2 + 9.43sINFOobjective_server_node[2026-08-10 20:58:34.706] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.28sINFOobjective_server_node[0;93m2026-08-10 20:58:35.552447182 [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 + 10.28sINFOobjective_server_node[0;93m2026-08-10 20:58:35.552487576 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.6s | 21 errors · 34 warnings · 248 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-10 20:59:30.678] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-10 20:59:30.678] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207088 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207088 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869257 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869257 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878887 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878887 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786395574.28428197 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395574.89561534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.48sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7).[0m ×2 + 5.75sINFOobjective_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 + 5.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2).[0m ×2 + 6.15sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.16sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4).[0m ×2 + 7.35sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395577.91381168 seconds ×3 + 7.36sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.36sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 7.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 7.97sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395578.53334236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.02sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 8.02sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.02sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 8.12sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Received new action goal ×2 + 8.12sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Accepted new action goal ×2 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2).[0m ×2 + 8.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4).[0m ×2 + 9.71sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395580.27236271 seconds ×3 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6).[0m ×2 + 10.33sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786395580.89712405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 10.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 2.4s | 21 errors · 31 warnings · 230 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786395574.28428197 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395574.89561534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.76sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 0.76sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.77sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Received new action goal ×2 + 0.77sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Accepted new action goal ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7).[0m ×2 + 2.03sINFOobjective_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 ×6 + 2.04sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.10sINFOobjective_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 ×6 + 2.10sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.10sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.10sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.10sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2).[0m ×2 + 2.43sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.44sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395577.91381168 seconds ×3 + 3.64sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.64sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395578.53334236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.30sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.30sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.30sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.30sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 4.40sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Received new action goal ×2 + 4.40sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2).[0m ×2 + 5.27sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395580.27236271 seconds ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786395580.89712405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.79sINFOobjective_server_nodeFound path in 5 iterations (0.00656277 s). ×2 + 6.86sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 6.88sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Received new action goal ×2 + 6.88sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Accepted new action goal ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 32 warnings · 531 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.08sINFOobjective_server_node[2026-08-10 20:57:04.166] [moveit_pro_license] [info] ×2 + 0.08sINFOobjective_server_node************************************************* ×4 + 0.08sINFOobjective_server_node* MoveIt Pro License ×2 + 0.08sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.20sINFOobjective_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 + 0.20sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.21sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.21sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.21sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.21sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.21sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.21sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.21sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.21sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.32sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.32sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.59sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.60sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.60sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.60sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.60sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.60sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.60sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.60sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.60sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.60sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.60sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.60sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.60sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.60sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.65sINFOforce_torque_sensor_broadcasterconfigure successful + 0.65sINFOros2_control_nodeconfigure successful[0m ×2 + 0.65sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.65sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.65sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.80sINFOcomponent_container_mt[2026-08-10 20:57:04.881] [moveit_pro_license] [info] ×2 + 0.80sINFOcomponent_container_mt************************************************* ×4 + 0.80sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.80sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273268 ms (missed cycles : 2). + 0.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273268 ms (missed cycles : 2).[0m ×2 + 0.97sINFOros2-2process has finished cleanly [pid 9075] ×2 + 0.97sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.97sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.98sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.04sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.15sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.15sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.22sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.23sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.23sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-08-10 20:57:05.312] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.23sINFOros2_control_node[2026-08-10 20:57:05.312] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.24sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.25sINFOros2_control_node[2026-08-10 20:57:05.336] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.25sINFOros2_control_node[2026-08-10 20:57:05.336] [info] Controller state will be published at 50 Hz. ×2 + 1.26sINFOros2_control_node[2026-08-10 20:57:05.343] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.53sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.53sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.53sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.53sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.53sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.53sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.54sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.54sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.58sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.58sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.58sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.58sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.58sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.58sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.59sINFOros2-6process has finished cleanly [pid 9079] ×2 + 1.59sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.59sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.89sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.89sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.89sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.89sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.89sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.89sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.93sINFOros2-3process has finished cleanly [pid 9076] ×2 + 1.96sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.96sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.96sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.96sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.96sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.97sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.97sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.97sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.97sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.97sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.97sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.97sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.97sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.97sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.98sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.98sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.01sWARNobjective_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 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 2.29sINFOros2-5process has finished cleanly [pid 9078] ×2 + 2.30sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.30sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.30sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.30sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.37sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 2.37sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 2.41sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.41sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.44sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 2.44sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.47sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.51sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.51sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.77sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.78sINFOros2-7process has finished cleanly [pid 9080] ×2 + 2.79sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.79sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.79sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.79sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.80sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 2.80sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 2.84sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 2.84sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 2.84sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.84sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.84sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.84sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.85sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.85sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.85sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 2.86sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.18sINFOros2-4process has finished cleanly [pid 9077] ×2 + 3.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 3.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 3.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 3.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 3.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 3.26sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 3.26sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 3.33sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 3.33sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 3.34sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 3.34sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 3.36sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 3.36sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.63sINFOros2-8process has finished cleanly [pid 9081] ×2 + 3.85sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 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 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 4.80sWARNros2_control_nodeCamera render tick took 1.90 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 + 4.91sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 5.53sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 6.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 7.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_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: 1786395431.89377642 seconds ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.81sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.83sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 2.83sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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 + 3.51sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 3.51sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 3.53sERRORobjective_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: 1786395442.91663957 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786395507.98986793 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786395508.66804743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786395508.74082351 seconds ×3 + 3.94sWARNros2_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 + 4.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786395509.34188294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5).[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6).[0m ×2 + 6.20sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786395511.47202826 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014631 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.014631 ms (missed cycles : 5).[0m ×2 + 0.22sINFOros2_control_node[2026-08-10 20:57:38.731] [info] Received new action goal ×2 + 0.22sINFOros2_control_node[2026-08-10 20:57:38.731] [info] Accepted new action goal ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2).[0m ×2 + 1.61sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.61sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.13sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Received new action goal ×2 + 2.13sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2).[0m ×2 + 3.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786395462.03000259 seconds ×3 + 3.53sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.53sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.53sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.53sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.53sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786395462.64907050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786395462.72919941 seconds ×3 + 4.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786395463.37069273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.96sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 4.97sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.98sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Received new action goal ×2 + 4.98sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Accepted new action goal ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.94sERRORobjective_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: 1786395653.30220771 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 26 warnings · 104 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395671.52518559 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786395672.12132716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.89sINFOobjective_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 + 3.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786395672.12331104 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786395672.79127479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786395672.79173851 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395673.38601947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786395674.64615273 seconds ×3 + 6.46sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088341 ms (missed cycles : 4). + 7.24sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088341 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 30 warnings · 427 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 9079] ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 9076] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sWARNobjective_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 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 0.76sINFOros2-5process has finished cleanly [pid 9078] ×2 + 0.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.91sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.25sINFOros2-7process has finished cleanly [pid 9080] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 9077] ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 1.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 1.80sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.10sINFOros2-8process has finished cleanly [pid 9081] ×2 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.90 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 + 3.38sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_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 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.90sINFOobjective_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 + 6.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.90sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.90sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.90sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.01sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 7.01sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.03sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 7.03sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 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 + 3.06sERRORobjective_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: 1786395653.30220771 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 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 ×6 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.74sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.77sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 4.38sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_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 + 4.40sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 5.09sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.17sWARNros2_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 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.20sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.21sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 24 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580138 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.448239 ms (missed cycles : 5).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246371 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395671.52518559 seconds ×3 + 3.31sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.31sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.31sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.31sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.31sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.31sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.31sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.89sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786395672.12132716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.89sINFOobjective_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 + 3.89sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.89sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786395672.12331104 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.599469 ms (missed cycles : 3).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786395672.79127479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.56sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786395672.79173851 seconds ×3 + 5.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395673.38601947 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.914505 ms (missed cycles : 5).[0m ×2 + 6.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.29 s); wrist_camera (1.29 s). The render path has stopped producing new frames for them.[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786395674.64615273 seconds ×3 + 6.46sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.088341 ms (missed cycles : 4). | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-10 20:58:36.602] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138366483 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138398312 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-10 20:58:37.309] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-10 20:58:37.376329620 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380818972 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380860693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-10 20:58:37.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_node[0;93m2026-08-10 20:58:37.860700905 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887731497 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887784580 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786395519.77977371 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786395520.44684744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.94sERRORobjective_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: 1786395653.30220771 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.81sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.83sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 2.83sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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 + 3.51sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 3.51sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 3.53sERRORobjective_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: 1786395442.91663957 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.40sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_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 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 2.12sERRORobjective_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: 1786395442.91663957 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.40sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_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 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 2.12sERRORobjective_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: 1786395442.91663957 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.40sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_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 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 2.12sERRORobjective_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: 1786395442.91663957 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 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 · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 20 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749406 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772927 ms (missed cycles : 2).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162328 ms (missed cycles : 2).[0m ×2 + 2.71sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786395507.98986793 seconds ×3 + 2.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.73sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.73sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.74sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.74sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743820 ms (missed cycles : 2).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786395508.66804743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.43sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.43sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786395508.74082351 seconds ×3 + 3.94sWARNros2_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 + 4.07sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786395509.34188294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6).[0m ×2 + 4.18sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 4.18sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.19sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Received new action goal ×2 + 4.19sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5). + 5.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 22 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786395508.66804743 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_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: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786395508.74082351 seconds ×3 + 0.08sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.09sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.54sWARNros2_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 + 0.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786395509.34188294 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.333980 ms (missed cycles : 6).[0m ×2 + 0.79sINFOobjective_server_nodeFound path in 0 iterations (2.94e-07 s). ×2 + 0.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.80sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Received new action goal ×2 + 0.80sINFOros2_control_node[2026-08-10 20:58:29.466] [info] Accepted new action goal ×2 + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414874 ms (missed cycles : 5).[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.926888 ms (missed cycles : 6).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786395511.47202826 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713665 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713665 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786395513.07366323 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065409 ms (missed cycles : 6). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.065409 ms (missed cycles : 6).[0m ×2 + 5.61sWARNros2_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 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753990 ms (missed cycles : 2).[0m ×2 + 6.04sINFOobjective_server_node[2026-08-10 20:58:34.706] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.89sINFOobjective_server_node[0;93m2026-08-10 20:58:35.552447182 [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 + 6.89sINFOobjective_server_node[0;93m2026-08-10 20:58:35.552487576 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-10 20:58:36.602] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138366483 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138398312 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-10 20:58:37.309] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-10 20:58:37.376329620 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380818972 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380860693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-10 20:58:37.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_node[0;93m2026-08-10 20:58:37.860700905 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887731497 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887784580 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786395519.77977371 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786395520.44684744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-10 20:58:36.602] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138366483 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138398312 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-10 20:58:37.309] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-10 20:58:37.376329620 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380818972 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380860693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-10 20:58:37.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_node[0;93m2026-08-10 20:58:37.860700905 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887731497 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887784580 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786395519.77977371 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786395520.44684744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786395609.93730879 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786395610.60680628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.36sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 23 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870355 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870355 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339720 ms (missed cycles : 4). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.339720 ms (missed cycles : 4).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671623 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671623 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200483 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.200483 ms (missed cycles : 4).[0m ×2 + 3.46sWARNros2_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 + 3.79sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.80sERRORobjective_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: 1786395631.80475044 seconds ×3 + 3.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.84sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.84sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.84sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321918 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321918 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786395632.43331289 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.76sINFOros2_control_node[2026-08-10 21:00:32.768] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-08-10 21:00:32.768] [info] Accepted new action goal ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351785 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582355 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.582355 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289815 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.289815 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619326 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619326 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669731 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669731 ms (missed cycles : 2).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700399 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700399 ms (missed cycles : 3).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786395642.37668681 seconds ×3 + 3.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.75sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921997 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921997 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786395642.99192452 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.46sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.46sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.47sINFOros2_control_node[2026-08-10 21:00:43.116] [info] Received new action goal ×2 + 4.47sINFOros2_control_node[2026-08-10 21:00:43.116] [info] Accepted new action goal ×2 + 4.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774689 ms (missed cycles : 2). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774689 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518837 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518837 ms (missed cycles : 2).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_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 + 2.01sERRORobjective_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: 1786395653.30220771 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.16sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925907 ms (missed cycles : 2).[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 2.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.81sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 2.81sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.83sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 2.83sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 3.51sINFOobjective_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 + 3.51sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 3.51sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 3.53sERRORobjective_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: 1786395442.91663957 seconds ×3 + 3.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.54sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.17sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.92sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 20 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958020 ms (missed cycles : 5).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.958566 ms (missed cycles : 5).[0m ×2 + 1.30sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.40sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 1.40sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-10 20:57:22.214] [info] Accepted new action goal ×2 + 1.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.839398 ms (missed cycles : 2).[0m ×2 + 2.10sINFOobjective_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 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Got request to cancel active goal. ×2 + 2.10sINFOros2_control_node[2026-08-10 20:57:22.901] [info] Canceling active goal... ×2 + 2.12sERRORobjective_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: 1786395442.91663957 seconds ×3 + 2.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.13sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.13sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.13sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786395443.55721307 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.87sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786395443.66733718 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.929288 ms (missed cycles : 5).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786395444.29900479 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.50sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.70sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.70sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Received new action goal ×2 + 3.71sINFOros2_control_node[2026-08-10 20:57:24.504] [info] Accepted new action goal ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.042564 ms (missed cycles : 5).[0m ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038053 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786395462.03000259 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786395462.64907050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786395462.72919941 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786395463.37069273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786395462.03000259 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786395462.64907050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786395462.72919941 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786395463.37069273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786395462.03000259 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786395462.64907050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786395462.72919941 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786395463.37069273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680418 ms (missed cycles : 2).[0m ×2 + 0.55sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.55sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.16 s); wrist_camera (1.16 s). The render path has stopped producing new frames for them.[0m ×2 + 1.06sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Received new action goal ×2 + 1.07sINFOros2_control_node[2026-08-10 20:57:40.643] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750903 ms (missed cycles : 4).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151904 ms (missed cycles : 2).[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786395462.03000259 seconds ×3 + 2.46sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.46sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.46sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.47sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.47sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.47sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.07sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786395462.64907050 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786395462.72919941 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164910 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786395463.37069273 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.90sINFOobjective_server_nodeFound path in 0 iterations (4.19e-07 s). ×2 + 3.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 20:57:43.495] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769843 ms (missed cycles : 4).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.033021 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166401 ms (missed cycles : 2).[0m ×2 + 0.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.08sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 1.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277069 ms (missed cycles : 2).[0m ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Received new action goal ×2 + 1.10sINFOros2_control_node[2026-08-10 20:57:51.556] [info] Accepted new action goal ×2 + 1.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119542 ms (missed cycles : 3).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526324 ms (missed cycles : 2).[0m ×2 + 3.44sINFOobjective_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 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 3.44sERRORobjective_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: 1786395473.90185022 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.49sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.08sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786395474.53968358 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.10sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.706605 ms (missed cycles : 6).[0m ×2 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (2.73e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 20:57:54.753] [info] Accepted new action goal ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672684 ms (missed cycles : 2).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.390975 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563806 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.563806 ms (missed cycles : 4).[0m ×2 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.64sINFOobjective_server_nodeFound path in 0 iterations (1.97e-07 s). ×2 + 0.64sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.65sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 0.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.74sINFOobjective_server_nodeFound path in 1 iterations (0.00380614 s). ×2 + 0.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.93sINFOros2_control_node[2026-08-10 20:58:13.718] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-10 20:58:13.718] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920173 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920173 ms (missed cycles : 5).[0m ×2 + 1.37sINFOros2_control_node[2026-08-10 20:58:14.160] [info] Received new action goal ×2 + 1.37sINFOros2_control_node[2026-08-10 20:58:14.160] [info] Accepted new action goal ×2 + 1.91sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751782 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751782 ms (missed cycles : 5).[0m ×2 + 2.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868562 ms (missed cycles : 2). + 3.11sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868562 ms (missed cycles : 2).[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.11sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.11sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.16sERRORobjective_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: 1786395495.94713187 seconds ×3 + 3.16sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.16sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.16sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.17sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.17sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.17sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.17sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786395496.72471690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 4.12sINFOros2_control_node[2026-08-10 20:58:16.908] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-10 20:58:16.908] [info] Accepted new action goal ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491399 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491399 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133560 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.133560 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917328 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917328 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-10 20:58:36.602] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138366483 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138398312 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-10 20:58:37.309] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-10 20:58:37.376329620 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380818972 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380860693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-10 20:58:37.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_node[0;93m2026-08-10 20:58:37.860700905 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887731497 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887784580 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786395519.77977371 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786395520.44684744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sINFOobjective_server_node[2026-08-10 20:58:36.602] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951838 ms (missed cycles : 2).[0m ×2 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138366483 [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 + 0.54sINFOobjective_server_node[0;93m2026-08-10 20:58:37.138398312 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.71sINFOobjective_server_node[2026-08-10 20:58:37.309] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.77sINFOobjective_server_node[0;93m2026-08-10 20:58:37.376329620 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380818972 [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 + 0.78sINFOobjective_server_node[0;93m2026-08-10 20:58:37.380860693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.84sINFOobjective_server_node[2026-08-10 20:58:37.446] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.089996 ms (missed cycles : 4).[0m ×2 + 1.26sINFOobjective_server_node[0;93m2026-08-10 20:58:37.860700905 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887731497 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.29sINFOobjective_server_node[0;93m2026-08-10 20:58:37.887784580 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.921624 ms (missed cycles : 2).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786395519.77977371 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804922 ms (missed cycles : 2).[0m ×2 + 3.24sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.24sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.24sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.24sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.25sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.25sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786395520.44684744 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.85sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.93sINFOobjective_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 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781002 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 4.22sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 20:58:40.865] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232239 ms (missed cycles : 2).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671447 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 errors · 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.09sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.11sINFOros2_control_node[2026-08-10 20:59:30.678] [info] Received new action goal ×2 + 0.11sINFOros2_control_node[2026-08-10 20:59:30.678] [info] Accepted new action goal ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207088 ms (missed cycles : 4). + 0.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.207088 ms (missed cycles : 4).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869257 ms (missed cycles : 2). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869257 ms (missed cycles : 2).[0m ×2 + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878887 ms (missed cycles : 5). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.878887 ms (missed cycles : 5).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786395574.28428197 seconds ×3 + 3.73sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.73sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.73sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.73sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.74sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.76sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287647 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395574.89561534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (2.81e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.48sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-10 20:59:35.049] [info] Accepted new action goal ×2 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.355593 ms (missed cycles : 7).[0m ×2 + 5.75sINFOobjective_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 + 5.76sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.81sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.82sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2).[0m ×2 + 6.15sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 6.16sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 23 warnings · 183 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2).[0m ×2 + 0.33sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395577.91381168 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395578.53334236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_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 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.31sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Received new action goal ×2 + 2.31sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2).[0m ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395580.27236271 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786395580.89712405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 5 iterations (0.00656277 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.78sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 21 errors · 23 warnings · 183 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.894847 ms (missed cycles : 2).[0m ×2 + 0.33sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.34sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267641 ms (missed cycles : 4).[0m ×2 + 1.53sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395577.91381168 seconds ×3 + 1.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 1.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 1.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 2.15sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786395578.53334236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.21sINFOobjective_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 + 2.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 2.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.30sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 2.30sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 2.31sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Received new action goal ×2 + 2.31sINFOros2_control_node[2026-08-10 20:59:38.687] [info] Accepted new action goal ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816348 ms (missed cycles : 2).[0m ×2 + 3.18sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.33 s); wrist_camera (1.33 s). The render path has stopped producing new frames for them.[0m ×2 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252976 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786395580.27236271 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.451314 ms (missed cycles : 6).[0m ×2 + 4.52sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786395580.89712405 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.52sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.69sINFOobjective_server_nodeFound path in 5 iterations (0.00656277 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.78sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-10 20:59:41.162] [info] Accepted new action goal ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533800 ms (missed cycles : 2).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.314558 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144754 ms (missed cycles : 4).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407800 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_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 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845944 ms (missed cycles : 3).[0m ×2 + 2.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154415 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786395609.93730879 seconds ×3 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.13sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786395610.60680628 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761832 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeFound path in 0 iterations (2.29e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.36sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Received new action goal ×2 + 4.36sINFOros2_control_node[2026-08-10 21:00:10.840] [info] Accepted new action goal ×2 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.357278 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159452 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794741 ms (missed cycles : 3).[0m ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Received new action goal ×2 + 0.64sINFOros2_control_node[2026-08-10 21:00:17.681] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.912520 ms (missed cycles : 3).[0m ×2 + 2.02sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.02sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036313 ms (missed cycles : 4).[0m ×2 + 2.53sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.53sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Received new action goal ×2 + 2.54sINFOros2_control_node[2026-08-10 21:00:19.590] [info] Accepted new action goal ×2 + 3.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2). + 3.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018515 ms (missed cycles : 2).[0m ×2 + 3.75sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Got request to cancel active goal. ×2 + 3.75sINFOros2_control_node[2026-08-10 21:00:20.797] [info] Canceling active goal... ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395620.81146216 seconds ×3 + 3.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.81sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.81sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.82sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.82sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.82sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.45sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786395621.49432182 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373119 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.05e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 21:00:21.678] [info] Accepted new action goal ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939318 ms (missed cycles : 3).[0m ×2 + 6.54sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2). + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544776 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.94sERRORobjective_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: 1786395653.30220771 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.94sERRORobjective_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: 1786395653.30220771 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 22 warnings · 131 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.343823 ms (missed cycles : 2).[0m ×2 + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 3.94sINFOobjective_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 + 3.94sERRORobjective_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: 1786395653.30220771 seconds ×3 + 4.00sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.00sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 4.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 4.00sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 4.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 4.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 4.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.64sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.65sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 5.28sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 5.97sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 6.08sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 6.08sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 6.09sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.973151 ms (missed cycles : 5).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211088 ms (missed cycles : 4).[0m ×2 + 2.01sINFOobjective_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 + 2.01sERRORobjective_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: 1786395653.30220771 seconds ×3 + 2.07sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.07sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.07sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.09sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.09sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.09sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.478910 ms (missed cycles : 4).[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786395653.94935727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.70sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.71sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.72sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.73sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786395654.01949739 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786395654.62036777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_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 + 3.36sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786395654.64362526 seconds ×3 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822305 ms (missed cycles : 7).[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786395655.32762742 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNros2_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 + 4.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 4.15sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.16sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Received new action goal ×2 + 4.16sINFOros2_control_node[2026-08-10 21:00:55.451] [info] Accepted new action goal ×2 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329095 ms (missed cycles : 2).[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.799290 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 25 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Canceling active goal... ×2 + 3.94sERRORobjective_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: 1786395665.81224632 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395666.40506196 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 2.422595 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422595 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 25 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806443 ms (missed cycles : 2).[0m ×2 + 0.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101310 ms (missed cycles : 5).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.411998 ms (missed cycles : 8).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.343921 ms (missed cycles : 6).[0m ×2 + 3.93sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.94sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Got request to cancel active goal. ×2 + 3.94sINFOros2_control_node[2026-08-10 21:01:05.807] [info] Canceling active goal... ×2 + 3.94sERRORobjective_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: 1786395665.81224632 seconds ×3 + 3.95sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.95sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.95sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.95sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.909978 ms (missed cycles : 5).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395666.40506196 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 2.422595 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.422595 ms (missed cycles : 2).[0m ×2 + 5.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997236 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.9s | 41 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/2026-08-10-20-56-58-426969-80a969ca3af2-9026 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381833 ms (missed cycles : 2). + 2.03sINFOros2_control_node-1process started with pid [9074] ×2 + 2.03sINFOmove_group-9process started with pid [9111] ×2 + 2.03sINFOparameter_manager_node-10process started with pid [9112] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [9113] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [9114] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [9115] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [9116] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9117] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9118] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9119] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9120] ×2 + 2.05sINFOweb_bridge-19process started with pid [9121] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9185] ×2 + 2.05sINFOvideo_server-21process started with pid [9186] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9187] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9188] ×2 + 2.06sINFOros2-2process started with pid [9075] ×2 + 2.06sINFOros2-3process started with pid [9076] ×2 + 2.06sINFOros2-4process started with pid [9077] ×2 + 2.06sINFOros2-5process started with pid [9078] ×2 + 2.06sINFOros2-6process started with pid [9079] ×2 + 2.06sINFOros2-7process started with pid [9080] ×2 + 2.06sINFOros2-8process started with pid [9081] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 2.381833 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.14sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.14sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.40sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF configuration loaded from /tmp/moveit-webrtc-5djxpesz/mediamtx.yml ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321883 ms (missed cycles : 2). + 2.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321883 ms (missed cycles : 2).[0m ×2 + 3.17sINFOmove_group[2026-08-10 20:57:02.351] [moveit_pro_license] [info] ×2 + 3.17sINFOmove_group************************************************* ×4 + 3.17sINFOmove_group* MoveIt Pro License ×2 + 3.17sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.30sINFOwaypoint_manager_node[2026-08-10 20:57:02.480] [moveit_pro_license] [info] ×2 + 3.30sINFOwaypoint_manager_node************************************************* ×4 + 3.30sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.30sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.44sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.60sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.60sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.61sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.61sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.61sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.67sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.67sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.67sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.67sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.67sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.68sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.74sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.76sINFOspawner_force_torque_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.76sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.81sINFOmove_group ×4 + 3.81sINFOmove_group[92mYou can start planning now![0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353304 ms (missed cycles : 5). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.353304 ms (missed cycles : 5).[0m ×2 + 4.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.99sINFOobjective_server_node[2026-08-10 20:57:04.166] [moveit_pro_license] [info] ×2 + 4.99sINFOobjective_server_node************************************************* ×4 + 4.99sINFOobjective_server_node* MoveIt Pro License ×2 + 4.99sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.10sINFOobjective_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 + 5.10sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.11sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.11sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.11sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.11sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.11sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.11sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.11sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.11sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.22sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.22sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.50sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.50sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.50sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.50sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.50sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.50sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.50sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.50sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.50sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.50sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.50sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.50sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.52sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.52sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.52sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.52sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.52sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 5.52sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 5.54sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.54sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.54sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.54sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.55sINFOforce_torque_sensor_broadcasterconfigure successful + 5.55sINFOros2_control_nodeconfigure successful[0m ×2 + 5.55sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.55sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.55sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.56sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.56sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.70sINFOcomponent_container_mt[2026-08-10 20:57:04.881] [moveit_pro_license] [info] ×2 + 5.70sINFOcomponent_container_mt************************************************* ×4 + 5.70sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273268 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.273268 ms (missed cycles : 2).[0m ×2 + 5.87sINFOros2-2process has finished cleanly [pid 9075] ×2 + 5.88sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.88sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.88sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.88sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.05sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 6.05sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 6.12sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.13sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.13sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.13sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.13sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.13sINFOros2_control_node[2026-08-10 20:57:05.312] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.13sINFOros2_control_node[2026-08-10 20:57:05.312] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.14sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.16sINFOros2_control_node[2026-08-10 20:57:05.336] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.16sINFOros2_control_node[2026-08-10 20:57:05.336] [info] Controller state will be published at 50 Hz. ×2 + 6.16sINFOros2_control_node[2026-08-10 20:57:05.343] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.43sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 6.43sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 6.43sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 6.43sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 6.43sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 6.43sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 6.44sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 6.45sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 6.48sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 6.48sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 6.48sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 6.48sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 6.48sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 6.48sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 6.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 6.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 6.49sINFOros2-6process has finished cleanly [pid 9079] ×2 + 6.50sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 6.50sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 6.79sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.79sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.79sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.79sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 6.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 6.83sINFOros2-3process has finished cleanly [pid 9076] ×2 + 6.86sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.87sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.87sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.87sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.87sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.87sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.87sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.87sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.87sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.87sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.88sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.88sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.91sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 7.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 7.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 7.19sINFOros2-5process has finished cleanly [pid 9078] ×2 + 7.20sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.20sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.20sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.20sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 7.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 7.31sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.31sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.35sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 7.35sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.37sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.41sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.41sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.41sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.41sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.67sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.68sINFOros2-7process has finished cleanly [pid 9080] ×2 + 7.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 7.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 7.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 7.69sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 7.70sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 7.70sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 7.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 7.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 7.74sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 7.74sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 7.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 7.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 7.75sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 7.75sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 7.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 7.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.08sINFOros2-4process has finished cleanly [pid 9077] ×2 + 8.08sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 8.08sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 8.08sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 8.08sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 8.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 8.16sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 8.16sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 8.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 8.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 8.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 8.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 8.26sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 8.27sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 8.53sINFOros2-8process has finished cleanly [pid 9081] ×2 + 8.75sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 9.70sWARNros2_control_nodeCamera render tick took 1.90 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.81sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 10.43sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.49sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 10.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 10.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 10.95sWARNros2_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 + 11.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 304 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 9080] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.41sINFOros2-4process has finished cleanly [pid 9077] ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.59sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 0.60sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.86sINFOros2-8process has finished cleanly [pid 9081] ×2 + 1.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 7.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 25 warnings · 357 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 9078] ×2 + 0.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.27sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.28sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.28sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.31sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.33sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.64sINFOros2-7process has finished cleanly [pid 9080] ×2 + 0.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.71sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.72sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.04sINFOros2-4process has finished cleanly [pid 9077] ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 1.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 1.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.49sINFOros2-8process has finished cleanly [pid 9081] ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 304 info |
+ 0.00sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.01sINFOros2-7process has finished cleanly [pid 9080] ×2 + 0.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.41sINFOros2-4process has finished cleanly [pid 9077] ×2 + 0.41sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.41sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.41sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.43sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.44sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 0.49sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.49sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.51sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.51sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 0.57sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.57sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.57sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.57sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.57sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.59sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 0.60sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.86sINFOros2-8process has finished cleanly [pid 9081] ×2 + 1.08sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.09sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 2.03sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.14sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 3.28sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.35sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 5.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.66sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.77sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 5.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 27 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 9079] ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 9076] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sWARNobjective_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 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 0.76sINFOros2-5process has finished cleanly [pid 9078] ×2 + 0.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.91sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.25sINFOros2-7process has finished cleanly [pid 9080] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 9077] ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 1.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 1.80sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.10sINFOros2-8process has finished cleanly [pid 9081] ×2 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.90 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 + 3.38sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_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 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-10-20-56-58-426969-80a969ca3af2-9026 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.82sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.83sINFOcontroller_managerupdate rate is 600 Hz + 1.83sINFOcontroller_managerOverruns handling is : enabled + 1.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.83sWARNcontroller_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. + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381833 ms (missed cycles : 2). + 2.03sINFOros2_control_node-1process started with pid [9074] ×2 + 2.03sINFOmove_group-9process started with pid [9111] ×2 + 2.03sINFOparameter_manager_node-10process started with pid [9112] ×2 + 2.05sINFOwaypoint_manager_node-11process started with pid [9113] ×2 + 2.05sINFOmove_joint_resampler_node-12process started with pid [9114] ×2 + 2.05sINFOmove_end_effector_resampler_node-13process started with pid [9115] ×2 + 2.05sINFOobjective_server_node_main-14process started with pid [9116] ×2 + 2.05sINFOcomponent_container_mt-15process started with pid [9117] ×2 + 2.05sINFOcomponent_container_mt-16process started with pid [9118] ×2 + 2.05sINFOexecute_objective_bridge-17process started with pid [9119] ×2 + 2.05sINFOui_teleop_bridge-18process started with pid [9120] ×2 + 2.05sINFOweb_bridge-19process started with pid [9121] ×2 + 2.05sINFOtf2_web_republisher_node-20process started with pid [9185] ×2 + 2.05sINFOvideo_server-21process started with pid [9186] ×2 + 2.05sINFOweb_bridge_auth_proxy-22process started with pid [9187] ×2 + 2.06sINFOweb_video_auth_proxy-23process started with pid [9188] ×2 + 2.06sINFOros2-2process started with pid [9075] ×2 + 2.06sINFOros2-3process started with pid [9076] ×2 + 2.06sINFOros2-4process started with pid [9077] ×2 + 2.06sINFOros2-5process started with pid [9078] ×2 + 2.06sINFOros2-6process started with pid [9079] ×2 + 2.06sINFOros2-7process started with pid [9080] ×2 + 2.06sINFOros2-8process started with pid [9081] ×2 + 2.10sINFOcontroller_managerReceived robot description from topic. + 2.10sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 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 2.381833 ms (missed cycles : 2).[0m ×2 + 2.13sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.13sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.14sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.14sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.40sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF configuration loaded from /tmp/moveit-webrtc-5djxpesz/mediamtx.yml ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.53sINFOvideo_server2026/08/10 20:57:01 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 27 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 9079] ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 9076] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sWARNobjective_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 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 0.76sINFOros2-5process has finished cleanly [pid 9078] ×2 + 0.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.91sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.25sINFOros2-7process has finished cleanly [pid 9080] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 9077] ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 1.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 1.80sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.10sINFOros2-8process has finished cleanly [pid 9081] ×2 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.90 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 + 3.38sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_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 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 27 warnings · 398 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.00sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.01sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.01sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.05sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.05sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.05sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.05sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOros2-6process has finished cleanly [pid 9079] ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.06sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.07sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.36sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.36sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.36sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.36sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.40sINFOros2-3process has finished cleanly [pid 9076] ×2 + 0.43sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.43sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.44sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.44sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.44sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.44sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.44sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.44sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.44sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.45sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.45sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.45sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.48sWARNobjective_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 + 0.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 0.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 0.76sINFOros2-5process has finished cleanly [pid 9078] ×2 + 0.77sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.77sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.77sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.84sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.88sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.88sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.88sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.89sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.91sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 0.92sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.98sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.98sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.24sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.25sINFOros2-7process has finished cleanly [pid 9080] ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.26sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.26sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.31sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.31sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.31sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.32sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.33sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.33sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.65sINFOros2-4process has finished cleanly [pid 9077] ×2 + 1.65sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.65sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.65sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.65sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 1.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 1.80sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 1.83sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.10sINFOros2-8process has finished cleanly [pid 9081] ×2 + 2.32sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.33sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.33sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 3.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 3.27sWARNros2_control_nodeCamera render tick took 1.90 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 + 3.38sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 4.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 4.52sWARNros2_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 + 4.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.26sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.26sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.27sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.27sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 357 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845857 ms (missed cycles : 5).[0m ×2 + 0.15sINFOros2-5process has finished cleanly [pid 9078] ×2 + 0.16sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.16sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.16sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.16sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.23sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.23sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.27sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.28sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.28sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.28sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.28sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.31sINFOros2_control_node[2026-08-10 20:57:06.525] [info] Controller state will be published at 10 Hz. ×2 + 0.31sINFOros2_control_node[2026-08-10 20:57:06.526] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.33sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.37sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.37sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.37sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.37sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.38sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.38sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.38sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.40sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.63sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.64sINFOros2-7process has finished cleanly [pid 9080] ×2 + 0.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 0.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 0.70sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.70sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.71sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.71sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.71sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.71sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.72sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.72sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.04sINFOros2-4process has finished cleanly [pid 9077] ×2 + 1.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395427.28552055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395427.29574966 seconds ×3 + 1.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf + 1.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_rcmvxdhv --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_p7tbe8fs --params-file /tmp/launch_params_h31cs4tf [0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.788434 ms (missed cycles : 4).[0m ×2 + 1.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.23sINFOros2_control_node[2026-08-10 20:57:07.444] [info] Controller state will be published at 20 Hz. ×2 + 1.23sINFOros2_control_node[2026-08-10 20:57:07.445] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.49sINFOros2-8process has finished cleanly [pid 9081] ×2 + 1.71sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 2.66sWARNros2_control_nodeCamera render tick took 1.90 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 + 2.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 3.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 3.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 5.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 6.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.40sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 6.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.42sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 6.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 6.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 235 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 + 6.99sINFOros2_control_nodeMuJoCo sim: 0.21% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727212 ms (missed cycles : 5). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727212 ms (missed cycles : 5).[0m ×2 + 7.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.41sINFOobjective_server_nodeFound path in 0 iterations (4.04e-07 s). ×2 + 7.42sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.43sINFOros2_control_node[2026-08-10 20:57:15.144] [info] Received new action goal ×2 + 7.43sINFOros2_control_node[2026-08-10 20:57:15.144] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 219 info |
+ 0.00sINFOros2-8process has finished cleanly [pid 9081] ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786395427.93331552 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4). + 0.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.636697 ms (missed cycles : 4).[0m ×2 + 1.17sWARNros2_control_nodeCamera render tick took 1.90 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 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786395428.99345350 seconds ×3 + 1.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.32sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.33sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.90sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786395429.61263752 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.96sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786395429.67277551 seconds ×3 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2). + 1.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.316950 ms (missed cycles : 2).[0m ×2 + 2.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395430.33103013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395430.34113908 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.359409 ms (missed cycles : 2).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395431.05406785 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395431.20457101 seconds ×3 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685522 ms (missed cycles : 2).[0m ×2 + 4.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395431.85365486 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395431.89377642 seconds ×3 + 4.79sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786395432.50042701 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_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 + 4.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.91sINFOobjective_server_nodeFound path in 0 iterations (2.3968e-05 s). ×2 + 4.91sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Received new action goal ×2 + 4.92sINFOros2_control_node[2026-08-10 20:57:12.636] [info] Accepted new action goal ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.409164 ms (missed cycles : 6).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915451 ms (missed cycles : 3).[0m ×2 | ||||