115
Total objective tests
33
Objectives passed
0
Objectives failed
82
Objectives skipped
7.8s
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 | 42.0s | 165 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3).[0m ×2 + 0.47sINFOobjective_server_node[2026-08-10 22:03:11.158] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691841072 [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 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691872376 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.17sINFOobjective_server_node[2026-08-10 22:03:11.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_node[0;93m2026-08-10 22:03:11.911837720 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916436553 [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 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916464199 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.30sINFOobjective_server_node[2026-08-10 22:03:11.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-10 22:03:12.361304047 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387751903 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387787263 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 1.04 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 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786399394.27753997 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786399394.93088055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.34sINFOobjective_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 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Accepted new action goal ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2).[0m ×2 + 7.52sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 7.54sINFOros2_control_node[2026-08-10 22:03:18.225] [info] Received new action goal ×2 + 7.54sINFOros2_control_node[2026-08-10 22:03:18.225] [info] Accepted new action goal ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864765 ms (missed cycles : 2). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864765 ms (missed cycles : 2).[0m ×2 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575013 ms (missed cycles : 3). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575013 ms (missed cycles : 3).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695531 ms (missed cycles : 2). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.695531 ms (missed cycles : 2).[0m ×2 + 10.64sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.64sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.66sINFOros2_control_node[2026-08-10 22:03:21.345] [info] Received new action goal ×2 + 10.66sINFOros2_control_node[2026-08-10 22:03:21.345] [info] Accepted new action goal ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799940 ms (missed cycles : 3). + 11.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.799940 ms (missed cycles : 3).[0m ×2 + 11.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567999 ms (missed cycles : 2). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.567999 ms (missed cycles : 2).[0m ×2 + 13.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446872 ms (missed cycles : 3). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446872 ms (missed cycles : 3).[0m ×2 + 13.64sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 13.65sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.70sINFOros2_control_node[2026-08-10 22:03:24.388] [info] Received new action goal ×2 + 13.70sINFOros2_control_node[2026-08-10 22:03:24.388] [info] Accepted new action goal ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853815 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853815 ms (missed cycles : 2).[0m ×2 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798175 ms (missed cycles : 2). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798175 ms (missed cycles : 2).[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435458 ms (missed cycles : 4). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435458 ms (missed cycles : 4).[0m ×2 + 16.65sINFOobjective_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 + 16.66sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.66sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.66sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.66sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.66sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.66sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539405 ms (missed cycles : 5). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539405 ms (missed cycles : 5).[0m ×2 + 17.98sWARNros2_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 + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270905 ms (missed cycles : 4). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270905 ms (missed cycles : 4).[0m ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.799967 ms (missed cycles : 7). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.799967 ms (missed cycles : 7).[0m ×2 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703018 ms (missed cycles : 2). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703018 ms (missed cycles : 2).[0m ×2 + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254535 ms (missed cycles : 3). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254535 ms (missed cycles : 3).[0m ×2 + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.016175 ms (missed cycles : 7). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.016175 ms (missed cycles : 7).[0m ×2 + 23.43sINFOobjective_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 + 23.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.44sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.44sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.44sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.44sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.75sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.28 s); wrist_camera (1.28 s). The render path has stopped producing new frames for them.[0m ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628506 ms (missed cycles : 5). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.628506 ms (missed cycles : 5).[0m ×2 + 24.37sINFOros2_control_node[2026-08-10 22:03:35.054] [info] Received new action goal ×2 + 24.37sINFOros2_control_node[2026-08-10 22:03:35.054] [info] Accepted new action goal ×2 + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928875 ms (missed cycles : 5). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.928875 ms (missed cycles : 5).[0m ×2 + 25.54sINFOobjective_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 + 25.55sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 25.84sINFOobjective_server_nodeFound path in 0 iterations (2.83e-07 s). ×2 + 25.84sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.88sINFOros2_control_node[2026-08-10 22:03:36.568] [info] Received new action goal ×2 + 25.88sINFOros2_control_node[2026-08-10 22:03:36.568] [info] Accepted new action goal ×2 + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194700 ms (missed cycles : 2). + 26.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.194700 ms (missed cycles : 2).[0m ×2 + 27.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061981 ms (missed cycles : 2). + 27.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061981 ms (missed cycles : 2).[0m ×2 + 28.01sINFOobjective_server_nodeFound path in 0 iterations (3.33e-07 s). ×2 + 28.01sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.02sINFOros2_control_node[2026-08-10 22:03:38.705] [info] Received new action goal ×2 + 28.02sINFOros2_control_node[2026-08-10 22:03:38.705] [info] Accepted new action goal ×2 + 28.75sWARNros2_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 ×4 + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247738 ms (missed cycles : 3). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247738 ms (missed cycles : 3).[0m ×2 + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098234 ms (missed cycles : 5). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098234 ms (missed cycles : 5).[0m ×2 + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520945 ms (missed cycles : 4). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.520945 ms (missed cycles : 4).[0m ×2 + 31.06sINFOros2_control_node[2026-08-10 22:03:41.745] [info] Received new action goal ×2 + 31.06sINFOros2_control_node[2026-08-10 22:03:41.745] [info] Accepted new action goal ×2 + 32.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523491 ms (missed cycles : 3). + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523491 ms (missed cycles : 3).[0m ×2 + 33.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.701369 ms (missed cycles : 8). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.701369 ms (missed cycles : 8).[0m ×2 + 33.65sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 33.65sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.70sINFOros2_control_node[2026-08-10 22:03:44.388] [info] Received new action goal ×2 + 33.70sINFOros2_control_node[2026-08-10 22:03:44.388] [info] Accepted new action goal ×2 + 33.76sWARNros2_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 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536403 ms (missed cycles : 4). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.536403 ms (missed cycles : 4).[0m ×2 + 35.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693752 ms (missed cycles : 4). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.693752 ms (missed cycles : 4).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457734 ms (missed cycles : 3). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457734 ms (missed cycles : 3).[0m ×2 + 37.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091465 ms (missed cycles : 3). + 37.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091465 ms (missed cycles : 3).[0m ×2 + 38.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902378 ms (missed cycles : 4). + 38.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.902378 ms (missed cycles : 4).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892134 ms (missed cycles : 5). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.892134 ms (missed cycles : 5).[0m ×2 + 40.30sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576740 ms (missed cycles : 2). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576740 ms (missed cycles : 2).[0m ×2 + 41.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031677 ms (missed cycles : 3). + 42.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031677 ms (missed cycles : 3).[0m ×2 + 43.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168177 ms (missed cycles : 3). + 43.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168177 ms (missed cycles : 3).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815017 ms (missed cycles : 4). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815017 ms (missed cycles : 4).[0m ×2 + 44.35sINFOros2_control_node[2026-08-10 22:03:55.034] [info] Received new action goal ×2 + 44.35sINFOros2_control_node[2026-08-10 22:03:55.034] [info] Accepted new action goal ×2 + 45.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565059 ms (missed cycles : 5). + 45.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565059 ms (missed cycles : 5).[0m ×2 + 45.50sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786399436.19111204 seconds ×3 + 46.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642846 ms (missed cycles : 3). + 46.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642846 ms (missed cycles : 3).[0m ×2 + 46.32sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786399437.01305151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268902 ms (missed cycles : 2). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268902 ms (missed cycles : 2).[0m ×2 + 47.49sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 47.50sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.52sINFOros2_control_node[2026-08-10 22:03:58.207] [info] Received new action goal ×2 + 47.52sINFOros2_control_node[2026-08-10 22:03:58.207] [info] Accepted new action goal ×2 + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135386 ms (missed cycles : 2). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135386 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.3s | 21 errors · 114 warnings · 309 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×16 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399451.64630342 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×9 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×18 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399452.27466440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.98sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Accepted new action goal ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399454.00216198 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2).[0m ×2 + 4.07sWARNros2_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 + 4.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786399454.63710952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.38sINFOobjective_server_nodeFound path in 5 iterations (0.00693207 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.46sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046610 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046610 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288751 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288751 ms (missed cycles : 4).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326076 ms (missed cycles : 4). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.326076 ms (missed cycles : 4).[0m ×2 + 9.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.08 s); wrist_camera (1.08 s). The render path has stopped producing new frames for them.[0m ×2 + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943707 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943707 ms (missed cycles : 2).[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805317 ms (missed cycles : 2). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805317 ms (missed cycles : 2).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311719 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311719 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960904 ms (missed cycles : 4). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.960904 ms (missed cycles : 4).[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.760949 ms (missed cycles : 6). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.760949 ms (missed cycles : 6).[0m ×2 + 15.20sWARNros2_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 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587080 ms (missed cycles : 3). + 16.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587080 ms (missed cycles : 3).[0m ×2 + 17.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969499 ms (missed cycles : 2). + 17.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969499 ms (missed cycles : 2).[0m ×2 + 18.10sINFOobjective_server_nodeFound path in 4 iterations (0.00333493 s). ×2 + 18.19sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 18.23sINFOobjective_server_nodeFound path in 12 iterations (0.00746962 s). ×2 + 18.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 18.33sINFOobjective_server_nodeFound path in 2 iterations (0.00389067 s). ×2 + 18.38sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 18.41sINFOobjective_server_nodeFound path in 0 iterations (4.39e-07 s). ×2 + 18.45sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 18.47sINFOobjective_server_nodeFound path in 0 iterations (2.38e-07 s). ×2 + 18.50sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 18.53sINFOobjective_server_nodeFound path in 12 iterations (0.00555411 s). ×2 + 18.59sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 18.62sINFOobjective_server_nodeFound path in 1 iterations (0.00447456 s). ×2 + 18.67sINFOobjective_server_nodePath shortcutter: [X________________________________X____________________X] ×2 + 18.69sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540333 ms (missed cycles : 6). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.540333 ms (missed cycles : 6).[0m ×2 + 18.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 18.76sINFOobjective_server_nodeFound path in 4 iterations (0.00575636 s). ×2 + 18.86sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 18.88sINFOobjective_server_nodeFound path in 4 iterations (0.00326285 s). ×2 + 18.98sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 19.00sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 19.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________X] ×2 + 19.08sINFOobjective_server_nodeFound path in 1 iterations (0.0058916 s). ×2 + 19.14sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 19.17sINFOobjective_server_nodeFound path in 1 iterations (0.00311662 s). ×2 + 19.26sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 19.28sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 19.33sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 19.35sINFOobjective_server_nodeFound path in 0 iterations (2.64e-07 s). ×2 + 19.44sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 19.47sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 19.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X] ×2 + 19.80sINFOros2_control_node[2026-08-10 22:04:30.247] [info] Received new action goal ×2 + 19.80sINFOros2_control_node[2026-08-10 22:04:30.247] [info] Accepted new action goal ×2 + 20.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949029 ms (missed cycles : 4). + 20.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949029 ms (missed cycles : 4).[0m ×2 + 20.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.48 s); wrist_camera (1.48 s). The render path has stopped producing new frames for them.[0m ×2 + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693518 ms (missed cycles : 5). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.693518 ms (missed cycles : 5).[0m ×2 + 22.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916647 ms (missed cycles : 3). + 22.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.916647 ms (missed cycles : 3).[0m ×2 + 23.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162081 ms (missed cycles : 2). + 23.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162081 ms (missed cycles : 2).[0m ×2 + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313683 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313683 ms (missed cycles : 2).[0m ×2 + 24.79sINFOros2_control_node[2026-08-10 22:04:35.239] [info] Received new action goal ×2 + 24.79sINFOros2_control_node[2026-08-10 22:04:35.239] [info] Accepted new action goal ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.334551 ms (missed cycles : 6). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.334551 ms (missed cycles : 6).[0m ×2 + 25.87sWARNros2_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 + 26.33sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 26.33sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 26.35sINFOros2_control_node[2026-08-10 22:04:36.791] [info] Received new action goal ×2 + 26.35sINFOros2_control_node[2026-08-10 22:04:36.791] [info] Accepted new action goal ×2 + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301586 ms (missed cycles : 2). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301586 ms (missed cycles : 2).[0m ×2 + 27.56sWARNobjective_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 + 27.56sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 27.61sINFOros2_control_node[2026-08-10 22:04:38.052] [info] Received new action goal ×2 + 27.61sINFOros2_control_node[2026-08-10 22:04:38.052] [info] Accepted new action goal ×2 + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.048897 ms (missed cycles : 6). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.048897 ms (missed cycles : 6).[0m ×2 + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524133 ms (missed cycles : 6). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.524133 ms (missed cycles : 6).[0m ×2 + 30.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5). + 30.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2).[0m ×2 + 31.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2).[0m ×2 + 32.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786399483.25732088 seconds ×3 + 32.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 32.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 32.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 33.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4). + 33.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4).[0m ×2 + 33.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786399483.93900633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 33.71sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 33.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 33.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Received new action goal ×2 + 33.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Accepted new action goal ×2 + 34.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2). + 34.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2).[0m ×2 + 35.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2). + 35.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 16.9s | 3 errors · 80 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786399319.02333450 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4).[0m ×2 + 7.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682586 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682586 ms (missed cycles : 2).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759700 ms (missed cycles : 2). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759700 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065175 ms (missed cycles : 5). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.065175 ms (missed cycles : 5).[0m ×2 + 10.35sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922713 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922713 ms (missed cycles : 4).[0m ×2 + 11.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477014 ms (missed cycles : 2). + 11.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477014 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583266 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583266 ms (missed cycles : 3).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.027221 ms (missed cycles : 7). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.027221 ms (missed cycles : 7).[0m ×2 + 14.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 14.08sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 14.09sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 14.39sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 14.39sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 14.40sINFOobjective_server_nodeFound path in 0 iterations (2.52e-07 s). ×2 + 14.42sINFOobjective_server_nodeFound path in 0 iterations (2.23e-07 s). ×2 + 14.46sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 14.49sINFOobjective_server_nodeFound path in 1 iterations (0.0030692 s). ×2 + 14.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 14.67sINFOros2_control_node[2026-08-10 22:02:10.906] [info] Received new action goal ×2 + 14.67sINFOros2_control_node[2026-08-10 22:02:10.906] [info] Accepted new action goal ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839237 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839237 ms (missed cycles : 2).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027687 ms (missed cycles : 2). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027687 ms (missed cycles : 2).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138655 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138655 ms (missed cycles : 2).[0m ×2 + 17.06sWARNros2_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 + 17.14sINFOros2_control_node[2026-08-10 22:02:13.379] [info] Received new action goal ×2 + 17.14sINFOros2_control_node[2026-08-10 22:02:13.379] [info] Accepted new action goal ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3).[0m ×2 + 19.04sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 19.04sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 19.06sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Received new action goal ×2 + 19.06sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Accepted new action goal ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5).[0m ×2 + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2). + 20.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2).[0m ×2 + 20.44sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786399336.67746449 seconds ×3 + 21.06sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786399337.29774618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.14sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786399337.37787056 seconds ×3 + 21.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3). + 21.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3).[0m ×2 + 21.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786399338.02743125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 21.90sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 21.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 21.92sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Received new action goal ×2 + 21.92sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Accepted new action goal ×2 + 22.46sWARNros2_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 + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2).[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.9s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061398 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061398 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464333 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464333 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.46sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 1.46sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.47sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.55sINFOobjective_server_nodeFound path in 1 iterations (0.00334248 s). ×2 + 1.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.74sINFOros2_control_node[2026-08-10 22:02:48.775] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-08-10 22:02:48.775] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944394 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944394 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_node[2026-08-10 22:02:49.208] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-08-10 22:02:49.208] [info] Accepted new action goal ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129640 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129640 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_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 + 3.48sINFOros2_control_node[2026-08-10 22:02:50.515] [info] Got request to cancel active goal. ×2 + 3.48sINFOros2_control_node[2026-08-10 22:02:50.515] [info] Canceling active goal... ×2 + 3.49sERRORobjective_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: 1786399370.51912594 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.50sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.95sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786399371.16857052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932267 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932267 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.31sINFOros2_control_node[2026-08-10 22:02:51.343] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-10 22:02:51.343] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590344 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590344 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151486 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151486 ms (missed cycles : 3).[0m ×2 + 6.80sINFOros2_control_node[2026-08-10 22:02:53.835] [info] Received new action goal ×2 + 6.80sINFOros2_control_node[2026-08-10 22:02:53.835] [info] Accepted new action goal ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256883 ms (missed cycles : 2). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256883 ms (missed cycles : 2).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429500 ms (missed cycles : 2). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429500 ms (missed cycles : 2).[0m ×2 + 8.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086439 ms (missed cycles : 2). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086439 ms (missed cycles : 2).[0m ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297831 ms (missed cycles : 3). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.297831 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223027 ms (missed cycles : 2). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223027 ms (missed cycles : 2).[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582591 ms (missed cycles : 3). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582591 ms (missed cycles : 3).[0m ×2 + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2). + 14.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4).[0m ×2 + 15.32sWARNros2_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 + 15.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786399382.40743017 seconds ×3 + 16.03sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786399383.06859732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.08sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 16.08sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 16.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.10sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786399383.13874197 seconds ×3 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5).[0m ×2 + 16.71sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786399383.74010181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.82sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 16.83sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.83sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Received new action goal ×2 + 16.83sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Accepted new action goal ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3).[0m ×2 + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 9 errors · 60 warnings · 197 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031677 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031677 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168177 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168177 ms (missed cycles : 3).[0m ×2 + 1.47sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 1.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.47sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.47sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.48sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.48sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.48sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.48sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.48sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815017 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815017 ms (missed cycles : 4).[0m ×2 + 2.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.34sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.35sINFOros2_control_node[2026-08-10 22:03:55.034] [info] Received new action goal ×2 + 2.35sINFOros2_control_node[2026-08-10 22:03:55.034] [info] Accepted new action goal ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565059 ms (missed cycles : 5). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.565059 ms (missed cycles : 5).[0m ×2 + 3.51sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786399436.19111204 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642846 ms (missed cycles : 3). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642846 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786399437.01305151 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sWARNros2_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 ×4 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268902 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268902 ms (missed cycles : 2).[0m ×2 + 5.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 5.50sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 5.51sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.53sINFOros2_control_node[2026-08-10 22:03:58.207] [info] Received new action goal ×2 + 5.53sINFOros2_control_node[2026-08-10 22:03:58.207] [info] Accepted new action goal ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135386 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.135386 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264894 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264894 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079926 ms (missed cycles : 5). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.079926 ms (missed cycles : 5).[0m ×2 + 9.22sINFOobjective_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 + 9.24sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.24sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.24sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.24sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.24sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.24sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.197847 ms (missed cycles : 7). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.197847 ms (missed cycles : 7).[0m ×2 + 10.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133110 ms (missed cycles : 4). + 10.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.133110 ms (missed cycles : 4).[0m ×2 + 10.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.63sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 11.64sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.66sINFOros2_control_node[2026-08-10 22:04:04.341] [info] Received new action goal ×2 + 11.66sINFOros2_control_node[2026-08-10 22:04:04.341] [info] Accepted new action goal ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978592 ms (missed cycles : 4). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978592 ms (missed cycles : 4).[0m ×2 + 13.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617419 ms (missed cycles : 2). + 13.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617419 ms (missed cycles : 2).[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102678 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102678 ms (missed cycles : 2).[0m ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2).[0m ×2 + 15.26sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786399447.94323468 seconds ×3 + 15.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399448.55565619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.04sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 16.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.05sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Received new action goal ×2 + 16.05sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Accepted new action goal ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3). + 16.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3).[0m ×2 + 17.32sINFOobjective_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 + 17.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2).[0m ×2 + 17.77sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 17.78sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×6 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.5s | 57 errors · 42 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2).[0m ×2 + 0.87sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.87sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Got request to cancel active goal. ×2 + 0.87sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Canceling active goal... ×2 + 0.89sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786399539.02596998 seconds ×3 + 0.90sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.90sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.90sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.90sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.91sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.91sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.91sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.91sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2).[0m ×2 + 1.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399539.63723969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2).[0m ×2 + 2.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399540.68736815 seconds ×3 + 3.14sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786399541.28384852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.14sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.15sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.15sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786399541.28626275 seconds ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786399541.94670868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786399541.94734073 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399542.54448700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399543.72462606 seconds ×3 + 5.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799102 ms (missed cycles : 4). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799102 ms (missed cycles : 4).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006262 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.006262 ms (missed cycles : 5).[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855589 ms (missed cycles : 3). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.855589 ms (missed cycles : 3).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358664 ms (missed cycles : 4). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358664 ms (missed cycles : 4).[0m ×2 + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.951239 ms (missed cycles : 6). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.951239 ms (missed cycles : 6).[0m ×2 + 11.36sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 11.39sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORweb_video_auth_proxy-23process has died [pid 9076, 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 + 11.39sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 11.42sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 11.43sERRORweb_bridge_auth_proxy-22process has died [pid 9068, 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 + 11.43sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 11.45sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.46sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.47sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.48sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 11.50sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.51sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.52sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.53sINFOvideo_server-21process has finished cleanly [pid 9067] ×2 + 11.54sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.55sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.57sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.58sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.60sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.60sINFOcontroller_managerShutdown request received.... + 11.60sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.60sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.60sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.60sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.60sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.60sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.60sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.60sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.60sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.60sINFOcontroller_managerShutting down the controller manager. + 11.60sINFOvideo_server2026/08/10 22:05:49 INF shutting down gracefully ×2 + 11.60sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOvideo_server2026/08/10 22:05:49 INF [WebRTC] closing ×2 + 11.60sINFOvideo_server2026/08/10 22:05:49 INF [RTSP] closing ×2 + 11.60sINFOvideo_server2026/08/10 22:05:49 INF waiting for running hooks ×2 + 11.61sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.61sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.61sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.61sERRORmove_groupStack trace (most recent call last) in thread 9351: ×2 + 11.61sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.61sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3e8d3a63, in __clone ×2 + 11.61sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3e846aa3, in ×2 + 11.61sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcd3ead8db3, in ×2 + 11.61sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fcd3f245fe7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.61sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd3ee6a620, in rclcpp::Rate::sleep() ×2 + 11.61sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd3edacd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.61sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcd3ed6e087, in ×2 + 11.61sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcd3eaa7390, in __cxa_throw ×2 + 11.61sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcd3ea91a54, in std::terminate() ×2 + 11.61sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcd3eaa70d9, in ×2 + 11.61sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcd3ea91ff4, in ×2 + 11.61sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3e7d28fe, in abort ×2 + 11.61sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3e7ef27d, in raise ×2 + 11.61sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcd3e848b2c, in pthread_kill ×2 + 11.61sERRORmove_groupAborted (Signal sent by tkill() 8992 0) ×2 + 11.61sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.61sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.61sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.61sERRORmove_group-9process has died [pid 8992, 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_9a0w03r_ --params-file /tmp/launch_params_crofjew4 --params-file /tmp/launch_params_chdm1ex3 --params-file /tmp/launch_params_cgqqjhxl --params-file /tmp/launch_params_pbymmypt --params-file /tmp/launch_params_mn8knara']. ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.61sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.62sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.81sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.81sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.81sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.49sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9066] ×2 + 12.49sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.57sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8996] ×2 + 12.58sINFOui_teleop_bridge-18process has finished cleanly [pid 9001] ×2 + 12.58sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8995] ×2 + 12.59sINFOexecute_objective_bridge-17process has finished cleanly [pid 9000] ×2 + 12.60sINFOcomponent_container_mt-16process has finished cleanly [pid 8999] ×2 + 12.64sINFOparameter_manager_node-10process has finished cleanly [pid 8993] ×2 + 12.64sINFOwaypoint_manager_node-11process has finished cleanly [pid 8994] ×2 + 12.66sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.77sINFOobjective_server_node[0;m[2026-08-10 22:05:50.906] [moveit_pro_license] [info] ×2 + 12.77sINFOobjective_server_node************************************************* ×4 + 12.77sINFOobjective_server_node* MoveIt Pro License ×2 + 12.77sINFOobjective_server_node* Application has successfully terminated ×2 + 12.85sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.25sINFOobjective_server_node_main-14process has finished cleanly [pid 8997] ×2 + 13.25sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.69sINFOcomponent_container_mt-15process has finished cleanly [pid 8998] ×2 + 13.94sINFOweb_bridge-19process has finished cleanly [pid 9002] ×2 + 13.94sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 14.25sINFOros2_control_node-1process has finished cleanly [pid 8955] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 57 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786399336.67746449 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.22sINFOros2_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 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786399337.29774618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786399337.37787056 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786399338.02743125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919779 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919779 ms (missed cycles : 2).[0m ×2 + 7.03sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). ×2 + 7.03sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.04sINFOros2_control_node[2026-08-10 22:02:21.501] [info] Received new action goal ×2 + 7.04sINFOros2_control_node[2026-08-10 22:02:21.501] [info] Accepted new action goal ×2 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156777 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156777 ms (missed cycles : 3).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709177 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709177 ms (missed cycles : 2).[0m ×2 + 9.37sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 9.38sINFOros2_control_node[2026-08-10 22:02:23.849] [info] Received new action goal ×2 + 9.38sINFOros2_control_node[2026-08-10 22:02:23.849] [info] Accepted new action goal ×2 + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953464 ms (missed cycles : 2). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953464 ms (missed cycles : 2).[0m ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 10.99sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 11.72sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 11.73sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 11.73sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 12.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 12.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 14.11sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 14.12sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 14.12sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 14.14sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.15sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 14.15sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 14.16sERRORobjective_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: 1786399348.63000774 seconds ×3 + 14.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 14.81sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.99sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 14.99sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.00sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 15.00sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 16.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.2s | 6 errors · 60 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 2.44sERRORobjective_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: 1786399526.51691747 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×8 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×16 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4).[0m ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203957 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203957 ms (missed cycles : 3).[0m ×2 + 7.91sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.92sINFOros2_control_node[2026-08-10 22:05:31.994] [info] Received new action goal ×2 + 7.92sINFOros2_control_node[2026-08-10 22:05:31.994] [info] Accepted new action goal ×2 + 7.92sINFOros2_control_node[2026-08-10 22:05:31.994] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.55sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.34 s); wrist_camera (1.34 s). The render path has stopped producing new frames for them.[0m ×2 + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346195 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346195 ms (missed cycles : 2).[0m ×2 + 9.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386627 ms (missed cycles : 3). + 9.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386627 ms (missed cycles : 3).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393950 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.393950 ms (missed cycles : 4).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4).[0m ×2 + 13.57sWARNros2_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 + 14.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2).[0m ×2 + 14.94sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Got request to cancel active goal. ×2 + 14.94sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Canceling active goal... ×2 + 14.95sERRORobjective_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: 1786399539.02596998 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2).[0m ×2 + 15.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399539.63723969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2).[0m ×2 + 16.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399540.68736815 seconds ×3 + 17.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786399541.28384852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.21sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.21sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 17.21sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.21sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786399541.28626275 seconds ×3 + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2).[0m ×2 + 17.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786399541.94670868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.87sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786399541.94734073 seconds ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050738 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050738 ms (missed cycles : 4).[0m ×2 + 0.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133954 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133954 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892018 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892018 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149631 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149631 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786399515.53305268 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 4.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786399516.14640403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.25sINFOros2_control_node[2026-08-10 22:05:16.277] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-10 22:05:16.277] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358759 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358759 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789071 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789071 ms (missed cycles : 2).[0m ×2 + 6.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210555 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210555 ms (missed cycles : 2).[0m ×2 + 7.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908569 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908569 ms (missed cycles : 2).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920225 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.920225 ms (missed cycles : 3).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.297361 ms (missed cycles : 5). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.297361 ms (missed cycles : 5).[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3).[0m ×2 + 12.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 12.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 13.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 13.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 13.58sWARNros2_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 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 14.47sINFOobjective_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 + 14.48sERRORobjective_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: 1786399526.51691747 seconds ×3 + 15.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.17sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.17sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.19sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.19sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 15.81sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.83sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 16.51sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.63sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 16.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.64sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 16.64sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 6 errors · 60 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×6 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 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 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831941 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831941 ms (missed cycles : 2).[0m ×2 + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663262 ms (missed cycles : 2). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663262 ms (missed cycles : 2).[0m ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212523 ms (missed cycles : 5). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.212523 ms (missed cycles : 5).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583660 ms (missed cycles : 5). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.583660 ms (missed cycles : 5).[0m ×2 + 10.46sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 10.46sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 10.46sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.57sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 10.58sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 10.59sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 10.59sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 10.60sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 10.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 10.66sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 10.72sINFOobjective_server_nodeFound path in 1 iterations (0.00273211 s). ×2 + 10.83sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 10.86sINFOobjective_server_nodeFound path in 1 iterations (0.00524211 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092523 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092523 ms (missed cycles : 3).[0m ×2 + 10.97sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 11.13sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 11.31sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 11.50sINFOros2_control_node[2026-08-10 22:02:36.921] [info] Received new action goal ×2 + 11.50sINFOros2_control_node[2026-08-10 22:02:36.921] [info] Accepted new action goal ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200236 ms (missed cycles : 3). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200236 ms (missed cycles : 3).[0m ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444311 ms (missed cycles : 5). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444311 ms (missed cycles : 5).[0m ×2 + 13.92sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181508 ms (missed cycles : 2). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181508 ms (missed cycles : 2).[0m ×2 + 14.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 14.21sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 14.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786399359.64528465 seconds ×3 + 14.85sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786399360.27459645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 15.07sINFOros2_control_node[2026-08-10 22:02:40.489] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-08-10 22:02:40.489] [info] Accepted new action goal ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032789 ms (missed cycles : 4). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032789 ms (missed cycles : 4).[0m ×2 + 16.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923899 ms (missed cycles : 2). + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923899 ms (missed cycles : 2).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534314 ms (missed cycles : 2). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534314 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 107 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.533030 ms (missed cycles : 4). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.533030 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712300 ms (missed cycles : 5). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.712300 ms (missed cycles : 5).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733533 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733533 ms (missed cycles : 2).[0m ×2 + 8.81sWARNros2_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 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.630330 ms (missed cycles : 5). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.630330 ms (missed cycles : 5).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972100 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972100 ms (missed cycles : 2).[0m ×2 + 11.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011254 ms (missed cycles : 5). + 11.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011254 ms (missed cycles : 5).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198730 ms (missed cycles : 3). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198730 ms (missed cycles : 3).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712678 ms (missed cycles : 2). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712678 ms (missed cycles : 2).[0m ×2 + 14.14sERRORobjective_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: 1786399505.00887513 seconds ×3 + 14.77sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786399505.63466072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334236 ms (missed cycles : 7). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334236 ms (missed cycles : 7).[0m ×2 + 15.05sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 15.06sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.07sINFOros2_control_node[2026-08-10 22:05:05.941] [info] Received new action goal ×2 + 15.07sINFOros2_control_node[2026-08-10 22:05:05.941] [info] Accepted new action goal ×2 + 15.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551323 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551323 ms (missed cycles : 2).[0m ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459668 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 10.9s | 6 errors · 60 warnings · 207 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 0.00sINFOobjective_server_nodePath shortcutter: [X__________X] ×4 + 0.01sINFOobjective_server_nodeFound path in 0 iterations (3.27e-07 s). ×2 + 0.02sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 0.03sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 0.07sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 0.08sINFOobjective_server_nodeFound path in 0 iterations (4.62e-07 s). ×2 + 0.12sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×4 + 0.15sINFOobjective_server_nodeFound path in 1 iterations (0.00273211 s). ×2 + 0.26sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×4 + 0.29sINFOobjective_server_nodeFound path in 1 iterations (0.00524211 s). ×2 + 0.38sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×4 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092523 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092523 ms (missed cycles : 3).[0m ×2 + 0.40sINFOobjective_server_nodeFound path in 0 iterations (5.18e-07 s). ×2 + 0.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×4 + 0.59sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×4 + 0.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.93sINFOros2_control_node[2026-08-10 22:02:36.921] [info] Received new action goal ×2 + 0.93sINFOros2_control_node[2026-08-10 22:02:36.921] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200236 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200236 ms (missed cycles : 3).[0m ×2 + 2.40sWARNros2_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 + 2.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444311 ms (missed cycles : 5). + 2.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.444311 ms (missed cycles : 5).[0m ×2 + 3.35sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 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: ``}. ×6 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181508 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.181508 ms (missed cycles : 2).[0m ×2 + 3.64sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 3.64sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786399359.64528465 seconds ×3 + 3.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.66sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.66sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.28sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786399360.27459645 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.50sINFOros2_control_node[2026-08-10 22:02:40.489] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-10 22:02:40.489] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032789 ms (missed cycles : 4). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032789 ms (missed cycles : 4).[0m ×2 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923899 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923899 ms (missed cycles : 2).[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534314 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.534314 ms (missed cycles : 2).[0m ×2 + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845858 ms (missed cycles : 2). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845858 ms (missed cycles : 2).[0m ×2 + 8.57sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.62sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.62sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.90sINFOobjective_server_nodeFound path in 0 iterations (3.46e-07 s). ×2 + 8.92sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514708 ms (missed cycles : 6). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.514708 ms (missed cycles : 6).[0m ×2 + 8.98sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 9.04sINFOobjective_server_nodeFound path in 1 iterations (0.00277135 s). ×2 + 9.17sINFOobjective_server_nodeFound path in 1 iterations (0.00434301 s). ×2 + 9.33sINFOobjective_server_nodeFound path in 0 iterations (3.16e-07 s). ×2 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (3.98e-07 s). ×2 + 9.80sINFOros2_control_node[2026-08-10 22:02:45.792] [info] Received new action goal ×2 + 9.80sINFOros2_control_node[2026-08-10 22:02:45.792] [info] Accepted new action goal ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584146 ms (missed cycles : 4). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.584146 ms (missed cycles : 4).[0m ×2 + 11.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061398 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061398 ms (missed cycles : 2).[0m ×2 + 12.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464333 ms (missed cycles : 2). + 12.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464333 ms (missed cycles : 2).[0m ×2 + 12.49sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 12.49sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.50sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 12.50sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.51sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 12.56sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.59sINFOobjective_server_nodeFound path in 1 iterations (0.00334248 s). ×2 + 12.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 12.78sINFOros2_control_node[2026-08-10 22:02:48.775] [info] Received new action goal ×2 + 12.78sINFOros2_control_node[2026-08-10 22:02:48.775] [info] Accepted new action goal ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944394 ms (missed cycles : 2). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944394 ms (missed cycles : 2).[0m ×2 + 13.21sINFOros2_control_node[2026-08-10 22:02:49.208] [info] Received new action goal ×2 + 13.21sINFOros2_control_node[2026-08-10 22:02:49.208] [info] Accepted new action goal ×2 + 13.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129640 ms (missed cycles : 3). + 14.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129640 ms (missed cycles : 3).[0m ×2 + 14.52sINFOros2_control_node[2026-08-10 22:02:50.515] [info] Got request to cancel active goal. ×2 + 14.52sINFOros2_control_node[2026-08-10 22:02:50.515] [info] Canceling active goal... ×2 + 14.52sERRORobjective_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: 1786399370.51912594 seconds ×3 + 14.99sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.17sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786399371.16857052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932267 ms (missed cycles : 3). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932267 ms (missed cycles : 3).[0m ×2 + 15.33sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 15.35sINFOros2_control_node[2026-08-10 22:02:51.343] [info] Received new action goal ×2 + 15.35sINFOros2_control_node[2026-08-10 22:02:51.343] [info] Accepted new action goal ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590344 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590344 ms (missed cycles : 2).[0m ×2 + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151486 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151486 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.8s | 3 errors · 60 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2).[0m ×2 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786399483.25732088 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786399483.93900633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673599 ms (missed cycles : 4). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.673599 ms (missed cycles : 4).[0m ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613501 ms (missed cycles : 5). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613501 ms (missed cycles : 5).[0m ×2 + 7.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.43sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.43sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (3.04e-07 s). ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.71sINFOobjective_server_nodeFound path in 0 iterations (2.66e-07 s). ×2 + 7.72sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.73sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 7.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.79sINFOobjective_server_nodeFound path in 1 iterations (0.00324918 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 7.94sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 7.97sINFOros2_control_node[2026-08-10 22:04:48.420] [info] Received new action goal ×2 + 7.97sINFOros2_control_node[2026-08-10 22:04:48.420] [info] Accepted new action goal ×2 + 8.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.195718 ms (missed cycles : 6). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.195718 ms (missed cycles : 6).[0m ×2 + 9.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552013 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552013 ms (missed cycles : 3).[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 10.44sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 10.44sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 10.54sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 11.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 11.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 12.30sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.31sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 12.32sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 12.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 13.57sINFOobjective_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 + 13.58sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 13.58sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 13.58sERRORobjective_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: 1786399494.03369927 seconds ×3 + 14.20sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 14.26sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.43sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 14.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.44sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 14.44sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 14.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 15.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 15.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 16.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.6s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.33sWARNros2_control_nodeCamera render tick took 1.89 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 + 0.82sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 0.86sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.86sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.86sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.86sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.86sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.86sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.87sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.87sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.44sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.44sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.50sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.17sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.19sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×4 + 2.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.62sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.63sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.63sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.26sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.26sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.27sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.37sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 4.37sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.39sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 4.39sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.24sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 + 6.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.88sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.90sINFOros2_control_node[2026-08-10 22:01:51.648] [info] Received new action goal ×2 + 6.90sINFOros2_control_node[2026-08-10 22:01:51.648] [info] Accepted new action goal ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096154 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096154 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872194 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872194 ms (missed cycles : 2).[0m ×2 + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066751 ms (missed cycles : 6). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.066751 ms (missed cycles : 6).[0m ×2 + 9.59sWARNros2_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 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783342 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783342 ms (missed cycles : 2).[0m ×2 + 10.63sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 10.66sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Received new action goal ×2 + 10.66sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Accepted new action goal ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.99sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 13.99sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 14.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.26sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 14.26sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 14.28sERRORobjective_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: 1786399319.02333450 seconds ×3 + 14.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.34sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.34sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.34sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.34sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 14.92sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 15.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.85sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 15.85sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.86sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 15.86sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 16.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 58 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972100 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972100 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011254 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011254 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198730 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198730 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712678 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712678 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_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 + 3.56sERRORobjective_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: 1786399505.00887513 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.19sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786399505.63466072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334236 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334236 ms (missed cycles : 7).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.50sINFOros2_control_node[2026-08-10 22:05:05.941] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-10 22:05:05.941] [info] Accepted new action goal ×2 + 5.02sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551323 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551323 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459668 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459668 ms (missed cycles : 2).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598898 ms (missed cycles : 4). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598898 ms (missed cycles : 4).[0m ×2 + 8.50sINFOros2_control_node[2026-08-10 22:05:09.947] [info] Received new action goal ×2 + 8.50sINFOros2_control_node[2026-08-10 22:05:09.947] [info] Accepted new action goal ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588100 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588100 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519701 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519701 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050738 ms (missed cycles : 4). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050738 ms (missed cycles : 4).[0m ×2 + 11.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133954 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133954 ms (missed cycles : 3).[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892018 ms (missed cycles : 2). + 12.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892018 ms (missed cycles : 2).[0m ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149631 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149631 ms (missed cycles : 3).[0m ×2 + 14.09sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786399515.53305268 seconds ×3 + 14.70sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786399516.14640403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 14.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.83sINFOros2_control_node[2026-08-10 22:05:16.277] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-08-10 22:05:16.277] [info] Accepted new action goal ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358759 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358759 ms (missed cycles : 3).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789071 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789071 ms (missed cycles : 2).[0m ×2 + 16.74sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.74sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210555 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210555 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 7.4s | 48 warnings · 167 info |
+ 0.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 0.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 0.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786399383.13874197 seconds ×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_managerRequested controller switch from non-realtime loop ×6 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786399383.74010181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786399385.87023878 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219682 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219682 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786399387.47057366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925990 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925990 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849299 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849299 ms (missed cycles : 4).[0m ×2 + 5.93sINFOobjective_server_node[2026-08-10 22:03:09.054] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104028 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104028 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-10 22:03:09.824482135 [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 + 6.70sINFOobjective_server_node[0;93m2026-08-10 22:03:09.824514456 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3).[0m ×2 + 8.04sINFOobjective_server_node[2026-08-10 22:03:11.158] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.57sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691841072 [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 + 8.57sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691872376 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.74sINFOobjective_server_node[2026-08-10 22:03:11.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4).[0m ×2 + 8.79sINFOobjective_server_node[0;93m2026-08-10 22:03:11.911837720 [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 + 8.79sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916436553 [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 + 8.79sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916464199 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.86sINFOobjective_server_node[2026-08-10 22:03:11.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.24sINFOobjective_server_node[0;93m2026-08-10 22:03:12.361304047 [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 + 9.27sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387751903 [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 + 9.27sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387787263 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.90sWARNros2_control_nodeCamera render tick took 1.04 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2).[0m ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5). + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5).[0m ×2 + 11.16sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786399394.27753997 seconds ×3 + 11.81sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786399394.93088055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 11.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 11.90sINFOobjective_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 + 11.91sINFOobjective_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 + 12.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3). + 12.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3).[0m ×2 + 12.19sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 12.19sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 12.24sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Received new action goal ×2 + 12.24sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Accepted new action goal ×2 + 12.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 13.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2). + 13.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2).[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2).[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 3.582591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582591 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786399382.40743017 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786399383.06859732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786399383.13874197 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786399383.74010181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.99sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786399385.87023878 seconds ×3 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219682 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219682 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786399387.47057366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925990 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925990 ms (missed cycles : 3).[0m ×2 + 8.69sWARNros2_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 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849299 ms (missed cycles : 4). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849299 ms (missed cycles : 4).[0m ×2 + 9.18sINFOobjective_server_node[2026-08-10 22:03:09.054] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104028 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104028 ms (missed cycles : 2).[0m ×2 + 9.95sINFOobjective_server_node[0;93m2026-08-10 22:03:09.824482135 [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 + 9.95sINFOobjective_server_node[0;93m2026-08-10 22:03:09.824514456 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 3.7s | 21 errors · 34 warnings · 250 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×11 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-10 22:04:04.341] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-10 22:04:04.341] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978592 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978592 ms (missed cycles : 4).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617419 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617419 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102678 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102678 ms (missed cycles : 2).[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786399447.94323468 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399448.55565619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNros2_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 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.52sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_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 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2).[0m ×2 + 6.23sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 6.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4).[0m ×2 + 7.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399451.64630342 seconds ×3 + 7.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 7.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3).[0m ×2 + 8.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399452.27466440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 8.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 8.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 8.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 8.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 8.21sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Received new action goal ×2 + 8.21sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Accepted new action goal ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3).[0m ×2 + 9.79sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399454.00216198 seconds ×3 + 10.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2). + 10.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2).[0m ×2 + 10.30sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 10.42sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786399454.63710952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.43sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 10.43sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 10.61sINFOobjective_server_nodeFound path in 5 iterations (0.00693207 s). ×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 |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2).[0m ×2 + 0.03sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786399447.94323468 seconds ×3 + 0.04sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.04sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.05sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.05sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.05sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.64sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399448.55565619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.67sWARNros2_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 + 0.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.81sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 0.81sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.82sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Received new action goal ×2 + 0.82sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Accepted new action goal ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3). + 1.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3).[0m ×2 + 2.08sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 2.09sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.15sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 2.15sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.15sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.15sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.15sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2).[0m ×2 + 2.53sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.54sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399451.64630342 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399452.27466440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_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 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 4.51sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399454.00216198 seconds ×3 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2).[0m ×2 + 6.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 6.72sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786399454.63710952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.91sINFOobjective_server_nodeFound path in 5 iterations (0.00693207 s). ×2 + 6.97sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 6.99sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Accepted new action goal ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.7s | 3 errors · 31 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786399539.02596998 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399539.63723969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399540.68736815 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786399541.28384852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786399541.28626275 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786399541.94670868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786399541.94734073 seconds ×3 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3).[0m ×2 + 6.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399542.54448700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5).[0m ×2 + 7.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399543.72462606 seconds ×3 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 32 warnings · 478 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.37sINFOcomponent_container_mt[2026-08-10 22:01:40.816] [moveit_pro_license] [info] ×2 + 0.37sINFOcomponent_container_mt************************************************* ×4 + 0.37sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.51sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.51sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.51sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.51sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.51sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.51sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.51sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.52sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.52sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.52sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.52sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.52sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.52sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.64sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.64sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.65sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.75sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.75sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.76sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.77sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.77sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.77sINFOros2_control_node[2026-08-10 22:01:41.219] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.77sINFOros2_control_node[2026-08-10 22:01:41.219] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.78sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.80sINFOros2_control_node[2026-08-10 22:01:41.253] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.80sINFOros2_control_node[2026-08-10 22:01:41.253] [info] Controller state will be published at 50 Hz. ×2 + 0.81sINFOros2_control_node[2026-08-10 22:01:41.260] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.99sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 1.03sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.09sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.15sINFOros2-6process has finished cleanly [pid 8960] ×2 + 1.15sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.15sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.15sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.15sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.15sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.16sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.16sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.16sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.16sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.17sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.17sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305942 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305942 ms (missed cycles : 2).[0m ×2 + 1.49sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.49sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.49sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.53sINFOros2-4process has finished cleanly [pid 8958] ×2 + 1.56sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.56sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.62sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 1.62sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 1.62sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.65sINFOros2_control_node[2026-08-10 22:01:42.101] [info] Controller state will be published at 20 Hz. ×2 + 1.65sINFOros2_control_node[2026-08-10 22:01:42.102] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 1.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.97sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.97sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.97sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.97sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.97sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.98sINFOros2-8process has finished cleanly [pid 8962] ×2 + 2.03sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.03sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.03sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.04sINFOforce_torque_sensor_broadcasterconfigure successful + 2.04sINFOros2_control_nodeconfigure successful[0m ×2 + 2.04sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.04sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.05sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.05sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.35sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.35sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.35sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.35sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.41sINFOros2-2process has finished cleanly [pid 8956] ×2 + 2.42sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 2.42sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 2.49sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.49sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.50sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.50sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.54sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 2.54sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.62sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.85sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.85sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.85sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.85sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.86sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 2.86sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 2.89sINFOros2-7process has finished cleanly [pid 8961] ×2 + 2.93sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 2.93sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 2.93sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.93sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.93sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.93sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.93sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.93sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.93sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.93sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.94sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.94sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.94sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.94sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.94sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 2.94sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 3.26sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 3.26sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 3.26sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 3.26sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 3.27sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 3.27sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 3.28sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 3.28sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 3.28sINFOros2-5process has finished cleanly [pid 8959] ×2 + 3.32sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 3.32sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 3.32sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 3.32sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 3.32sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 3.32sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 3.33sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 3.33sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 3.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.48sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 3.48sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 3.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.67sINFOros2-3process has finished cleanly [pid 8957] ×2 + 4.06sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 4.63sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 5.12sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 6.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 7.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.15sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 7.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 7.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.93sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.93sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 8.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 23 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Accepted new action goal ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.35sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 3.62sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 3.64sERRORobjective_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: 1786399319.02333450 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.23sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 20 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582591 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786399382.40743017 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786399383.06859732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786399383.13874197 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786399383.74010181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.99sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3).[0m ×2 + 5.99sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786399385.87023878 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 28 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138655 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138655 ms (missed cycles : 2).[0m ×2 + 0.04sWARNros2_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 + 0.12sINFOros2_control_node[2026-08-10 22:02:13.379] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-10 22:02:13.379] [info] Accepted new action goal ×2 + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3).[0m ×2 + 1.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.02sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.03sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Received new action goal ×2 + 2.03sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Accepted new action goal ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5).[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786399336.67746449 seconds ×3 + 3.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.42sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.04sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786399337.29774618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.12sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786399337.37787056 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786399338.02743125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.89sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Received new action goal ×2 + 4.89sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Accepted new action goal ×2 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2).[0m ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4). + 6.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.62sERRORobjective_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: 1786399526.51691747 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2).[0m ×2 + 1.36sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.36sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Got request to cancel active goal. ×2 + 1.36sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Canceling active goal... ×2 + 1.37sERRORobjective_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: 1786399539.02596998 seconds ×3 + 1.39sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.39sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.39sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.39sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.39sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.40sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.40sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2).[0m ×2 + 1.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399539.63723969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2).[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399540.68736815 seconds ×3 + 3.63sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786399541.28384852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.63sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.63sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.63sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786399541.28626275 seconds ×3 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786399541.94670868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786399541.94734073 seconds ×3 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399542.54448700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399543.72462606 seconds ×3 + 6.11sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799102 ms (missed cycles : 4). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799102 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 25 warnings · 398 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.101] [info] Controller state will be published at 20 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.102] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.42sINFOros2-8process has finished cleanly [pid 8962] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.80sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.80sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 8956] ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.93sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.34sINFOros2-7process has finished cleanly [pid 8961] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.38sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.38sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.38sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.39sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 1.71sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.71sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.73sINFOros2-5process has finished cleanly [pid 8959] ×2 + 1.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.11sINFOros2-3process has finished cleanly [pid 8957] ×2 + 2.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.13sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_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: 1786399526.51691747 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 28 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4).[0m ×2 + 0.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×4 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2).[0m ×2 + 1.94sINFOobjective_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 + 1.94sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Got request to cancel active goal. ×2 + 1.94sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Canceling active goal... ×2 + 1.96sERRORobjective_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: 1786399539.02596998 seconds ×3 + 1.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.97sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.97sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.97sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.97sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2).[0m ×2 + 2.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399539.63723969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399540.68736815 seconds ×3 + 4.21sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786399541.28384852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786399541.28626275 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786399541.94670868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786399541.94734073 seconds ×3 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.472348 ms (missed cycles : 3).[0m ×2 + 5.48sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399542.54448700 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516646 ms (missed cycles : 5).[0m ×2 + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399543.72462606 seconds ×3 + 6.69sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.62sERRORobjective_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: 1786399526.51691747 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 25 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3).[0m ×2 + 0.47sINFOobjective_server_node[2026-08-10 22:03:11.158] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691841072 [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 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691872376 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.17sINFOobjective_server_node[2026-08-10 22:03:11.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_node[0;93m2026-08-10 22:03:11.911837720 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916436553 [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 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916464199 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.30sINFOobjective_server_node[2026-08-10 22:03:11.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-10 22:03:12.361304047 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387751903 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387787263 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 1.04 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 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786399394.27753997 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786399394.93088055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.34sINFOobjective_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 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Accepted new action goal ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 75 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061398 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061398 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464333 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464333 ms (missed cycles : 2).[0m ×2 + 1.45sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 1.46sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 1.46sINFOobjective_server_nodeFound path in 0 iterations (2.27e-07 s). ×2 + 1.46sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 1.47sINFOobjective_server_nodeFound path in 0 iterations (2.39e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 1.55sINFOobjective_server_nodeFound path in 1 iterations (0.00334248 s). ×2 + 1.67sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 1.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.74sINFOros2_control_node[2026-08-10 22:02:48.775] [info] Received new action goal ×2 + 1.74sINFOros2_control_node[2026-08-10 22:02:48.775] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944394 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944394 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2_control_node[2026-08-10 22:02:49.208] [info] Received new action goal ×2 + 2.18sINFOros2_control_node[2026-08-10 22:02:49.208] [info] Accepted new action goal ×2 + 2.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129640 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129640 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_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 + 3.48sINFOros2_control_node[2026-08-10 22:02:50.515] [info] Got request to cancel active goal. ×2 + 3.48sINFOros2_control_node[2026-08-10 22:02:50.515] [info] Canceling active goal... ×2 + 3.49sERRORobjective_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: 1786399370.51912594 seconds ×3 + 3.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.50sINFOros2_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 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.95sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786399371.16857052 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932267 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.932267 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.31sINFOros2_control_node[2026-08-10 22:02:51.343] [info] Received new action goal ×2 + 4.31sINFOros2_control_node[2026-08-10 22:02:51.343] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590344 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590344 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151486 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151486 ms (missed cycles : 3).[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 3.582591 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582591 ms (missed cycles : 3).[0m ×2 + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258051 ms (missed cycles : 2).[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.727889 ms (missed cycles : 4).[0m ×2 + 2.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 2.53sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786399382.40743017 seconds ×3 + 2.54sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.54sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.54sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.55sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.55sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.19sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786399383.06859732 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.25sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786399383.13874197 seconds ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786399383.74010181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.98sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 3.98sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.99sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − 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 1.972100 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972100 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011254 ms (missed cycles : 5). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.011254 ms (missed cycles : 5).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198730 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.198730 ms (missed cycles : 3).[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712678 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712678 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_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 + 3.56sERRORobjective_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: 1786399505.00887513 seconds ×3 + 3.60sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.60sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.60sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.60sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.60sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.62sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.19sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786399505.63466072 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334236 ms (missed cycles : 7). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.334236 ms (missed cycles : 7).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.47e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.50sINFOros2_control_node[2026-08-10 22:05:05.941] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-10 22:05:05.941] [info] Accepted new action goal ×2 + 5.02sWARNros2_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 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551323 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551323 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459668 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459668 ms (missed cycles : 2).[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 5.050738 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050738 ms (missed cycles : 4).[0m ×2 + 0.56sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133954 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133954 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892018 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892018 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149631 ms (missed cycles : 3). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149631 ms (missed cycles : 3).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786399515.53305268 seconds ×3 + 3.51sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.51sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.51sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.51sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.52sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.52sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.53sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.53sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.11sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786399516.14640403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.25sINFOros2_control_node[2026-08-10 22:05:16.277] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-10 22:05:16.277] [info] Accepted new action goal ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358759 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358759 ms (missed cycles : 3).[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789071 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789071 ms (missed cycles : 2).[0m ×2 + 6.16sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210555 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210555 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_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: 1786399526.51691747 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 1.53sWARNros2_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 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sERRORobjective_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: 1786399526.51691747 seconds ×3 + 2.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.50sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.52sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.52sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.14sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 3.76sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.79sINFOobjective_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 + 3.79sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.48sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 4.59sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 4.60sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975728 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 20 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Accepted new action goal ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.35sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 3.62sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 3.64sERRORobjective_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: 1786399319.02333450 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.23sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 20 warnings · 99 info |
+ 0.00sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 0.01sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 0.02sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:01:55.401] [info] Accepted new action goal ×2 + 0.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 3.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.34sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 3.34sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 3.35sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 3.35sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 3.62sINFOobjective_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 + 3.63sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 3.63sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 3.64sERRORobjective_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: 1786399319.02333450 seconds ×3 + 3.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.70sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.70sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.70sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.02sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 5.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 5.21sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.23sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 5.23sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786399319.02333450 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786399319.02333450 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786399319.02333450 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.731211 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900357 ms (missed cycles : 3).[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079254 ms (missed cycles : 3).[0m ×2 + 2.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.48sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 2.49sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Received new action goal ×2 + 2.50sINFOros2_control_node[2026-08-10 22:01:58.731] [info] Accepted new action goal ×2 + 2.77sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Got request to cancel active goal. ×2 + 2.77sINFOros2_control_node[2026-08-10 22:01:59.007] [info] Canceling active goal... ×2 + 2.79sERRORobjective_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: 1786399319.02333450 seconds ×3 + 2.84sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.84sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.84sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.84sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.85sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.85sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.85sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831064 ms (missed cycles : 4).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786399319.66893125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786399319.77906442 seconds ×3 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392694 ms (missed cycles : 2).[0m ×2 + 4.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786399320.40569711 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4.41e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-10 22:02:00.610] [info] Accepted new action goal ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.550431 ms (missed cycles : 4).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469996 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786399336.67746449 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786399337.29774618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786399337.37787056 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786399338.02743125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786399336.67746449 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786399337.29774618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786399337.37787056 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786399338.02743125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786399336.67746449 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786399337.29774618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786399337.37787056 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786399338.02743125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 23 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344438 ms (missed cycles : 3).[0m ×2 + 0.30sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.30sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.81sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 0.81sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Received new action goal ×2 + 0.83sINFOros2_control_node[2026-08-10 22:02:15.291] [info] Accepted new action goal ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.464975 ms (missed cycles : 5).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224432 ms (missed cycles : 2).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786399336.67746449 seconds ×3 + 2.22sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.22sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.22sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.22sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.22sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.23sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.83sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786399337.29774618 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.91sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786399337.37787056 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.045707 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786399338.02743125 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.67sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.67sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Received new action goal ×2 + 3.69sINFOros2_control_node[2026-08-10 22:02:18.152] [info] Accepted new action goal ×2 + 4.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.22 s); wrist_camera (1.22 s). The render path has stopped producing new frames for them.[0m ×2 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253911 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.697875 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 22 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.820235 ms (missed cycles : 4).[0m ×2 + 0.04sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.77sINFOobjective_server_nodeFound path in 0 iterations (4.31e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Received new action goal ×2 + 0.78sINFOros2_control_node[2026-08-10 22:02:26.199] [info] Accepted new action goal ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897904 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3). + 2.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600339 ms (missed cycles : 3).[0m ×2 + 3.15sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Received new action goal ×2 + 3.17sINFOros2_control_node[2026-08-10 22:02:28.589] [info] Accepted new action goal ×2 + 3.19sINFOobjective_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 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Got request to cancel active goal. ×2 + 3.20sINFOros2_control_node[2026-08-10 22:02:28.617] [info] Canceling active goal... ×2 + 3.21sERRORobjective_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: 1786399348.63000774 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.822020 ms (missed cycles : 7).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786399349.27311397 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.04sINFOobjective_server_nodeFound path in 0 iterations (3.07e-07 s). ×2 + 4.04sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Received new action goal ×2 + 4.05sINFOros2_control_node[2026-08-10 22:02:29.467] [info] Accepted new action goal ×2 + 4.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.512634 ms (missed cycles : 2).[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757996 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 94 info |
+ 0.00sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.00sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786399383.13874197 seconds ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 0.03sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 0.03sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.03sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.019375 ms (missed cycles : 5).[0m ×2 + 0.62sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786399383.74010181 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.63sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.74sINFOobjective_server_nodeFound path in 0 iterations (6.29e-07 s). ×2 + 0.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.74sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-08-10 22:03:03.864] [info] Accepted new action goal ×2 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.793067 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363979 ms (missed cycles : 3).[0m ×2 + 2.75sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786399385.87023878 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219682 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219682 ms (missed cycles : 3).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786399387.47057366 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925990 ms (missed cycles : 3). + 4.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925990 ms (missed cycles : 3).[0m ×2 + 5.44sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.26 s); wrist_camera (1.26 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849299 ms (missed cycles : 4). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849299 ms (missed cycles : 4).[0m ×2 + 5.93sINFOobjective_server_node[2026-08-10 22:03:09.054] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104028 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104028 ms (missed cycles : 2).[0m ×2 + 6.70sINFOobjective_server_node[0;93m2026-08-10 22:03:09.824482135 [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 + 6.70sINFOobjective_server_node[0;93m2026-08-10 22:03:09.824514456 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 25 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3).[0m ×2 + 0.47sINFOobjective_server_node[2026-08-10 22:03:11.158] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691841072 [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 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691872376 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.17sINFOobjective_server_node[2026-08-10 22:03:11.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_node[0;93m2026-08-10 22:03:11.911837720 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916436553 [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 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916464199 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.30sINFOobjective_server_node[2026-08-10 22:03:11.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-10 22:03:12.361304047 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387751903 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387787263 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 1.04 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 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786399394.27753997 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786399394.93088055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.34sINFOobjective_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 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Accepted new action goal ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 25 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3).[0m ×2 + 0.47sINFOobjective_server_node[2026-08-10 22:03:11.158] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691841072 [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 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691872376 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.17sINFOobjective_server_node[2026-08-10 22:03:11.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_node[0;93m2026-08-10 22:03:11.911837720 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916436553 [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 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916464199 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.30sINFOobjective_server_node[2026-08-10 22:03:11.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-10 22:03:12.361304047 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387751903 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387787263 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 1.04 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 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786399394.27753997 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786399394.93088055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.34sINFOobjective_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 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Accepted new action goal ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 25 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3).[0m ×2 + 0.47sINFOobjective_server_node[2026-08-10 22:03:11.158] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691841072 [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 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691872376 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.17sINFOobjective_server_node[2026-08-10 22:03:11.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_node[0;93m2026-08-10 22:03:11.911837720 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916436553 [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 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916464199 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.30sINFOobjective_server_node[2026-08-10 22:03:11.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-10 22:03:12.361304047 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387751903 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387787263 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 1.04 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 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786399394.27753997 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786399394.93088055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.34sINFOobjective_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 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Accepted new action goal ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 25 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626869 ms (missed cycles : 3).[0m ×2 + 0.47sINFOobjective_server_node[2026-08-10 22:03:11.158] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691841072 [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 + 1.00sINFOobjective_server_node[0;93m2026-08-10 22:03:11.691872376 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.17sINFOobjective_server_node[2026-08-10 22:03:11.853] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925530 ms (missed cycles : 4).[0m ×2 + 1.22sINFOobjective_server_node[0;93m2026-08-10 22:03:11.911837720 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916436553 [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 + 1.23sINFOobjective_server_node[0;93m2026-08-10 22:03:11.916464199 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.30sINFOobjective_server_node[2026-08-10 22:03:11.985] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.67sINFOobjective_server_node[0;93m2026-08-10 22:03:12.361304047 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387751903 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:03:12.387787263 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.33sWARNros2_control_nodeCamera render tick took 1.04 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 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388138 ms (missed cycles : 2).[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.077677 ms (missed cycles : 5).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786399394.27753997 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786399394.93088055 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.33sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.34sINFOobjective_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 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.030246 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (3.17e-07 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Received new action goal ×2 + 4.67sINFOros2_control_node[2026-08-10 22:03:15.359] [info] Accepted new action goal ×2 + 5.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.27 s); wrist_camera (1.27 s). The render path has stopped producing new frames for them.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936131 ms (missed cycles : 2).[0m ×2 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761968 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 9 errors · 20 warnings · 106 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.87e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.13sINFOros2_control_node[2026-08-10 22:04:04.341] [info] Received new action goal ×2 + 0.13sINFOros2_control_node[2026-08-10 22:04:04.341] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978592 ms (missed cycles : 4). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.978592 ms (missed cycles : 4).[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617419 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617419 ms (missed cycles : 2).[0m ×2 + 2.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102678 ms (missed cycles : 2). + 2.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102678 ms (missed cycles : 2).[0m ×2 + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855374 ms (missed cycles : 2).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786399447.94323468 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.34sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399448.55565619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.37sWARNros2_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 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 4.51sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 4.51sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.52sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Received new action goal ×2 + 4.52sINFOros2_control_node[2026-08-10 22:04:08.729] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671635 ms (missed cycles : 3).[0m ×2 + 5.79sINFOobjective_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 + 5.79sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.85sINFOobjective_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 + 5.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2). + 5.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.392145 ms (missed cycles : 2).[0m ×2 + 6.23sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×9 + 6.24sINFOobjective_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 · 20 warnings · 165 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399451.64630342 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399452.27466440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.98sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Accepted new action goal ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399454.00216198 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2).[0m ×2 + 4.07sWARNros2_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 + 4.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786399454.63710952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 5 iterations (0.00693207 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.46sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 21 errors · 20 warnings · 165 info |
+ 0.00sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.01sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.705218 ms (missed cycles : 4).[0m ×2 + 1.20sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399451.64630342 seconds ×3 + 1.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.21sINFOcontroller_managerSuccessfully switched controllers! ×7 + 1.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3). + 1.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180011 ms (missed cycles : 3).[0m ×2 + 1.83sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786399452.27466440 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 1.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.88sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.88sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.88sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.88sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.88sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.97sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 1.98sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.98sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Received new action goal ×2 + 1.98sINFOros2_control_node[2026-08-10 22:04:12.428] [info] Accepted new action goal ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.115780 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_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 + 3.28sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 3.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 3.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786399454.00216198 seconds ×3 + 3.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2). + 3.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747908 ms (missed cycles : 2).[0m ×2 + 4.07sWARNros2_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 + 4.19sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786399454.63710952 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.38sINFOobjective_server_nodeFound path in 5 iterations (0.00693207 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.46sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Received new action goal ×2 + 4.46sINFOros2_control_node[2026-08-10 22:04:14.904] [info] Accepted new action goal ×2 + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.323915 ms (missed cycles : 5).[0m ×2 + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3). + 6.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169197 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2).[0m ×2 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786399483.25732088 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786399483.93900633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 20 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.276702 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899770 ms (missed cycles : 2).[0m ×2 + 1.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.11 s); wrist_camera (1.11 s). The render path has stopped producing new frames for them.[0m ×2 + 2.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418859 ms (missed cycles : 2).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786399483.25732088 seconds ×3 + 2.85sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.85sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.85sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.85sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.85sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.86sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.86sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.86sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.86sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154195 ms (missed cycles : 4).[0m ×2 + 3.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786399483.93900633 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.71sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 3.71sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Received new action goal ×2 + 3.73sINFOros2_control_node[2026-08-10 22:04:44.174] [info] Accepted new action goal ×2 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310166 ms (missed cycles : 2).[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.917995 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 26 warnings · 65 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.231242 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Received new action goal ×2 + 0.02sINFOros2_control_node[2026-08-10 22:04:50.892] [info] Accepted new action goal ×2 + 0.12sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.794198 ms (missed cycles : 6).[0m ×2 + 1.42sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.42sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.88sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.88sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.89sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Received new action goal ×2 + 1.90sINFOros2_control_node[2026-08-10 22:04:52.762] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.836584 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.853726 ms (missed cycles : 8).[0m ×2 + 3.15sINFOobjective_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 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Got request to cancel active goal. ×2 + 3.16sINFOros2_control_node[2026-08-10 22:04:54.029] [info] Canceling active goal... ×2 + 3.16sERRORobjective_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: 1786399494.03369927 seconds ×3 + 3.21sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.21sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.21sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.23sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.23sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.32 s); wrist_camera (1.32 s). The render path has stopped producing new frames for them.[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786399494.70810795 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.01sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 4.01sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-08-10 22:04:54.892] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562144 ms (missed cycles : 2).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.067947 ms (missed cycles : 3).[0m ×2 + 5.93sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.62sERRORobjective_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: 1786399526.51691747 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.62sERRORobjective_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: 1786399526.51691747 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002413 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346742 ms (missed cycles : 5).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663998 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_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 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.737678 ms (missed cycles : 4).[0m ×2 + 3.61sINFOobjective_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 + 3.62sERRORobjective_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: 1786399526.51691747 seconds ×3 + 3.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.68sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.69sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786399527.16823792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.32sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956492 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786399527.23837304 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786399527.84009576 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_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 + 4.96sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786399527.86291933 seconds ×3 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868574 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786399528.54024696 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOobjective_server_nodeFound path in 0 iterations (4.68e-07 s). ×2 + 5.76sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Received new action goal ×2 + 5.77sINFOros2_control_node[2026-08-10 22:05:28.674] [info] Accepted new action goal ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.742868 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786399539.02596998 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399539.63723969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399540.68736815 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786399541.28384852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786399541.28626275 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786399541.94670868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786399541.94734073 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 23 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960978 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.567388 ms (missed cycles : 4).[0m ×2 + 1.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426769 ms (missed cycles : 2).[0m ×2 + 2.94sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.95sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-08-10 22:05:39.010] [info] Canceling active goal... ×2 + 2.96sERRORobjective_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: 1786399539.02596998 seconds ×3 + 2.97sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.97sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.98sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.98sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.98sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559454 ms (missed cycles : 2).[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399539.63723969 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.297977 ms (missed cycles : 2).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399540.68736815 seconds ×3 + 5.22sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786399541.28384852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.22sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.22sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.22sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786399541.28626275 seconds ×3 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276736 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786399541.94670868 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.88sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786399541.94734073 seconds ×3 | ||||
▾
/__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 | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.4s | 36 warnings · 564 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-10-22-01-34-504214-90a5c15bdb74-8907 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640579 ms (missed cycles : 3). + 2.06sINFOros2_control_node-1process started with pid [8955] ×2 + 2.06sINFOmove_group-9process started with pid [8992] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8993] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8994] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8995] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8996] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [8997] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [8998] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [8999] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [9000] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [9001] ×2 + 2.08sINFOweb_bridge-19process started with pid [9002] ×2 + 2.09sINFOtf2_web_republisher_node-20process started with pid [9066] ×2 + 2.09sINFOvideo_server-21process started with pid [9067] ×2 + 2.09sINFOweb_bridge_auth_proxy-22process started with pid [9068] ×2 + 2.09sINFOweb_video_auth_proxy-23process started with pid [9076] ×2 + 2.09sINFOros2-2process started with pid [8956] ×2 + 2.09sINFOros2-3process started with pid [8957] ×2 + 2.09sINFOros2-4process started with pid [8958] ×2 + 2.09sINFOros2-5process started with pid [8959] ×2 + 2.09sINFOros2-6process started with pid [8960] ×2 + 2.09sINFOros2-7process started with pid [8961] ×2 + 2.09sINFOros2-8process started with pid [8962] ×2 + 2.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.15sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.15sWARNros2_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 + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640579 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerReceived robot description from topic. + 2.18sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.19sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.19sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.20sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.21sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.37sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF configuration loaded from /tmp/moveit-webrtc-4dy2pz4k/mediamtx.yml ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177835 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.177835 ms (missed cycles : 4).[0m ×2 + 3.20sINFOmove_group[2026-08-10 22:01:38.462] [moveit_pro_license] [info] ×2 + 3.20sINFOmove_group************************************************* ×4 + 3.20sINFOmove_group* MoveIt Pro License ×2 + 3.20sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.53sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.53sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.53sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.54sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.62sINFOwaypoint_manager_node[2026-08-10 22:01:38.887] [moveit_pro_license] [info] ×2 + 3.62sINFOwaypoint_manager_node************************************************* ×4 + 3.62sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.62sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.64sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.71sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.73sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.82sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.82sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.84sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.88sINFOmove_group ×4 + 3.88sINFOmove_group[92mYou can start planning now![0m ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512209 ms (missed cycles : 3). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.512209 ms (missed cycles : 3).[0m ×2 + 4.59sINFOobjective_server_node[2026-08-10 22:01:39.862] [moveit_pro_license] [info] ×2 + 4.59sINFOobjective_server_node************************************************* ×4 + 4.59sINFOobjective_server_node* MoveIt Pro License ×2 + 4.59sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.71sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 4.71sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.73sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.73sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.73sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.73sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.73sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.73sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.73sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.73sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.74sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.98sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 4.98sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.54sINFOcomponent_container_mt[2026-08-10 22:01:40.816] [moveit_pro_license] [info] ×2 + 5.54sINFOcomponent_container_mt************************************************* ×4 + 5.54sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.54sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.69sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.69sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.69sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.69sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.69sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.69sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.69sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.69sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.69sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.69sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.69sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.69sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.69sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.69sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 5.82sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.82sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.82sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.82sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.93sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 5.93sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 5.94sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 5.94sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 5.94sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 5.94sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 5.95sINFOros2_control_node[2026-08-10 22:01:41.219] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.95sINFOros2_control_node[2026-08-10 22:01:41.219] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 5.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.98sINFOros2_control_node[2026-08-10 22:01:41.253] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 5.98sINFOros2_control_node[2026-08-10 22:01:41.253] [info] Controller state will be published at 50 Hz. ×2 + 5.99sINFOros2_control_node[2026-08-10 22:01:41.260] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.17sWARNobjective_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 + 6.20sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.27sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.27sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.27sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.27sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.27sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 6.27sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 6.33sINFOros2-6process has finished cleanly [pid 8960] ×2 + 6.33sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 6.33sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 6.33sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.33sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.33sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.33sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.34sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.34sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.34sINFOcontroller_managerSuccessfully switched controllers! ×12 + 6.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×24 + 6.34sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.34sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305942 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305942 ms (missed cycles : 2).[0m ×2 + 6.66sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 6.66sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 6.66sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 6.66sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 6.71sINFOros2-4process has finished cleanly [pid 8958] ×2 + 6.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 6.74sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 6.79sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 6.79sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 6.79sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 6.80sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 6.83sINFOros2_control_node[2026-08-10 22:01:42.101] [info] Controller state will be published at 20 Hz. ×2 + 6.83sINFOros2_control_node[2026-08-10 22:01:42.102] [info] JointVelocityController 'on_configure' succeeded. ×2 + 6.88sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 6.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.15sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.15sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.15sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.15sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.15sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 7.15sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 7.16sINFOros2-8process has finished cleanly [pid 8962] ×2 + 7.21sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.21sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.21sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.21sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.22sINFOforce_torque_sensor_broadcasterconfigure successful + 7.22sINFOros2_control_nodeconfigure successful[0m ×2 + 7.22sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.22sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.22sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.22sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.53sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.53sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.53sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.53sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.58sINFOros2-2process has finished cleanly [pid 8956] ×2 + 7.60sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 7.60sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 7.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 7.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 7.68sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.68sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.71sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 7.71sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 8.03sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 8.03sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 8.03sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 8.03sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 8.03sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 8.04sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 8.07sINFOros2-7process has finished cleanly [pid 8961] ×2 + 8.10sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 8.11sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 8.11sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 8.11sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 8.11sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 8.11sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 8.11sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 8.11sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 8.11sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 8.11sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 8.11sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 8.11sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 8.11sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 8.11sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 8.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 8.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 8.12sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 8.12sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 8.44sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 8.44sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 8.44sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 8.44sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 8.44sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 8.44sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 8.45sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 8.46sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 8.46sINFOros2-5process has finished cleanly [pid 8959] ×2 + 8.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 8.49sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 8.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 8.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 8.50sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 8.50sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 8.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 8.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 8.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 8.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 8.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 8.65sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.65sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.65sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 8.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 8.66sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.66sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.67sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 8.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 8.84sINFOros2-3process has finished cleanly [pid 8957] ×2 + 9.23sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 9.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 9.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 9.81sWARNros2_control_nodeCamera render tick took 1.89 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 10.29sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 10.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 10.91sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.97sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 11.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 31 warnings · 316 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 8961] ×2 + 0.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.04sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.04sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.04sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.04sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.05sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 8959] ×2 + 0.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sINFOros2-3process has finished cleanly [pid 8957] ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 1.74sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 7.64sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 7.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 348 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-2process has finished cleanly [pid 8956] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.18sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.54sINFOros2-7process has finished cleanly [pid 8961] ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 8959] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 8957] ×2 + 1.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_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 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.33sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 390 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.101] [info] Controller state will be published at 20 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.102] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.42sINFOros2-8process has finished cleanly [pid 8962] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×18 + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 0.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.80sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.80sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 8956] ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.93sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.34sINFOros2-7process has finished cleanly [pid 8961] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.38sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.38sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.38sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.39sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 1.71sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.71sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.73sINFOros2-5process has finished cleanly [pid 8959] ×2 + 1.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.11sINFOros2-3process has finished cleanly [pid 8957] ×2 + 2.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-10-22-01-34-504214-90a5c15bdb74-8907 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.84sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.85sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.86sINFOcontroller_managerupdate rate is 600 Hz + 1.86sINFOcontroller_managerOverruns handling is : enabled + 1.86sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.86sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640579 ms (missed cycles : 3). + 2.06sINFOros2_control_node-1process started with pid [8955] ×2 + 2.06sINFOmove_group-9process started with pid [8992] ×2 + 2.06sINFOparameter_manager_node-10process started with pid [8993] ×2 + 2.06sINFOwaypoint_manager_node-11process started with pid [8994] ×2 + 2.06sINFOmove_joint_resampler_node-12process started with pid [8995] ×2 + 2.06sINFOmove_end_effector_resampler_node-13process started with pid [8996] ×2 + 2.06sINFOobjective_server_node_main-14process started with pid [8997] ×2 + 2.06sINFOcomponent_container_mt-15process started with pid [8998] ×2 + 2.06sINFOcomponent_container_mt-16process started with pid [8999] ×2 + 2.06sINFOexecute_objective_bridge-17process started with pid [9000] ×2 + 2.06sINFOui_teleop_bridge-18process started with pid [9001] ×2 + 2.08sINFOweb_bridge-19process started with pid [9002] ×2 + 2.09sINFOtf2_web_republisher_node-20process started with pid [9066] ×2 + 2.09sINFOvideo_server-21process started with pid [9067] ×2 + 2.09sINFOweb_bridge_auth_proxy-22process started with pid [9068] ×2 + 2.09sINFOweb_video_auth_proxy-23process started with pid [9076] ×2 + 2.09sINFOros2-2process started with pid [8956] ×2 + 2.09sINFOros2-3process started with pid [8957] ×2 + 2.09sINFOros2-4process started with pid [8958] ×2 + 2.09sINFOros2-5process started with pid [8959] ×2 + 2.09sINFOros2-6process started with pid [8960] ×2 + 2.09sINFOros2-7process started with pid [8961] ×2 + 2.09sINFOros2-8process started with pid [8962] ×2 + 2.15sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.15sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.15sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.15sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.15sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.15sWARNros2_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 + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640579 ms (missed cycles : 3).[0m ×2 + 2.18sINFOcontroller_managerReceived robot description from topic. + 2.18sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.19sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.19sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.20sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.21sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.27sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.37sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF configuration loaded from /tmp/moveit-webrtc-4dy2pz4k/mediamtx.yml ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.55sINFOvideo_server2026/08/10 22:01:37 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 372 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.101] [info] Controller state will be published at 20 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.102] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.42sINFOros2-8process has finished cleanly [pid 8962] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.80sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.80sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 8956] ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.93sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.34sINFOros2-7process has finished cleanly [pid 8961] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.38sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.38sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.38sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.39sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 1.71sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.71sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.73sINFOros2-5process has finished cleanly [pid 8959] ×2 + 1.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.11sINFOros2-3process has finished cleanly [pid 8957] ×2 + 2.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 372 info |
+ 0.00sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.00sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.06sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.06sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.101] [info] Controller state will be published at 20 Hz. ×2 + 0.09sINFOros2_control_node[2026-08-10 22:01:42.102] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.41sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.41sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.41sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.41sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.42sINFOros2-8process has finished cleanly [pid 8962] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.48sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.49sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.49sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.80sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.80sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.85sINFOros2-2process has finished cleanly [pid 8956] ×2 + 0.87sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.87sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.93sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.93sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.95sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.95sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 0.98sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.06sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.30sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.30sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.30sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.30sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.30sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.30sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.34sINFOros2-7process has finished cleanly [pid 8961] ×2 + 1.37sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.37sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.37sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.37sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.37sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.37sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.37sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.38sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.38sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.38sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.38sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.38sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.39sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.39sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 1.71sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.71sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.71sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.71sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.71sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 1.71sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 1.72sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.72sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.73sINFOros2-5process has finished cleanly [pid 8959] ×2 + 1.76sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 1.76sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 1.76sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.76sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.76sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.76sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.77sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 1.77sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.91sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 1.92sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.92sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.92sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.92sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.93sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.93sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 2.11sINFOros2-3process has finished cleanly [pid 8957] ×2 + 2.50sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 3.07sWARNros2_control_nodeCamera render tick took 1.89 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 + 3.56sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 4.18sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 4.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 4.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 4.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 5.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.59sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 5.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.36sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.36sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.37sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.38sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 348 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.05sINFOros2-2process has finished cleanly [pid 8956] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.14sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.14sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.15sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.15sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.16sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.18sINFOros2_control_node[2026-08-10 22:01:42.986] [info] Controller state will be published at 10 Hz. ×2 + 0.18sINFOros2_control_node[2026-08-10 22:01:42.987] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.26sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.50sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.50sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.50sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.50sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.51sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.51sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.54sINFOros2-7process has finished cleanly [pid 8961] ×2 + 0.57sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.58sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.58sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.58sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.58sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.58sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.58sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.58sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.58sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.58sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.58sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.59sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.59sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.91sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.91sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.91sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.92sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.93sINFOros2-5process has finished cleanly [pid 8959] ×2 + 0.96sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.96sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.97sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.97sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.97sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.97sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.97sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.97sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.98sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.98sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.12sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.12sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.31sINFOros2-3process has finished cleanly [pid 8957] ×2 + 1.70sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 1.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 2.28sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.76sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.58sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.58sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 6.19sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.20sINFOobjective_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 + 6.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.32sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 6.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.33sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 6.33sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 28 warnings · 314 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 8961] ×2 + 0.03sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.04sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.04sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.04sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.04sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.04sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.04sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.04sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.04sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.04sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.04sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.04sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.04sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.05sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.05sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.05sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.05sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628790 ms (missed cycles : 2).[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.37sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.37sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.37sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 + 0.37sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_vbbdtn5y --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_4b2ef9f5 --params-file /tmp/launch_params_vk9974t4 [0m ×2 + 0.38sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOros2-5process has finished cleanly [pid 8959] ×2 + 0.42sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.42sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.43sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.44sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.44sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.56sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399303.90892720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.57sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399303.91913629 seconds ×3 + 0.58sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.58sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.59sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.60sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sINFOros2-3process has finished cleanly [pid 8957] ×2 + 1.16sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.17sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.17sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 1.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 1.74sWARNros2_control_nodeCamera render tick took 1.89 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 + 2.22sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.90sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 3.58sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.04sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.04sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 5.65sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 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 + 5.67sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.67sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.67sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.78sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.78sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.79sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.79sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 235 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 + 7.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.51sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.53sINFOros2_control_node[2026-08-10 22:01:51.648] [info] Received new action goal ×2 + 7.53sINFOros2_control_node[2026-08-10 22:01:51.648] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 221 info |
+ 0.00sINFOros2-3process has finished cleanly [pid 8957] ×2 + 0.39sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786399304.50979257 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941071 ms (missed cycles : 2).[0m ×2 + 0.96sWARNros2_control_nodeCamera render tick took 1.89 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 + 1.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786399305.56994724 seconds ×3 + 1.49sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.49sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.49sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.50sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.071458 ms (missed cycles : 3).[0m ×2 + 2.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786399306.18680930 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786399306.24696875 seconds ×3 + 2.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399306.92029572 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.82sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399306.94041657 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.589983 ms (missed cycles : 2).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399307.53495455 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399307.68568110 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.100034 ms (missed cycles : 5).[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399308.35020423 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.25sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399308.39034152 seconds ×3 + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243688 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786399308.99722385 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.90sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.00sINFOobjective_server_nodeFound path in 0 iterations (2.564e-05 s). ×2 + 5.00sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Received new action goal ×2 + 5.02sINFOros2_control_node[2026-08-10 22:01:49.134] [info] Accepted new action goal ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949686 ms (missed cycles : 2).[0m ×2 + 6.87sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.306732 ms (missed cycles : 5).[0m ×2 | ||||