115
Total objective tests
33
Objectives passed
0
Objectives failed
82
Objectives skipped
7.6s
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 | 42.7s | 168 warnings · 299 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.66sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [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 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.98sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786400719.79832888 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786400720.44184995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.99sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×6 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3).[0m ×2 + 7.13sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 7.14sINFOros2_control_node[2026-08-10 22:25:23.686] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-08-10 22:25:23.686] [info] Accepted new action goal ×2 + 7.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782795 ms (missed cycles : 2). + 7.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782795 ms (missed cycles : 2).[0m ×2 + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810308 ms (missed cycles : 3). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.810308 ms (missed cycles : 3).[0m ×2 + 9.92sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 9.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172527 ms (missed cycles : 2). + 9.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172527 ms (missed cycles : 2).[0m ×2 + 10.30sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.30sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.31sINFOros2_control_node[2026-08-10 22:25:26.855] [info] Received new action goal ×2 + 10.32sINFOros2_control_node[2026-08-10 22:25:26.855] [info] Accepted new action goal ×2 + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779144 ms (missed cycles : 3). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779144 ms (missed cycles : 3).[0m ×2 + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305198 ms (missed cycles : 4). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.305198 ms (missed cycles : 4).[0m ×2 + 13.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185048 ms (missed cycles : 3). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.185048 ms (missed cycles : 3).[0m ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.31sINFOros2_control_node[2026-08-10 22:25:29.848] [info] Received new action goal ×2 + 13.31sINFOros2_control_node[2026-08-10 22:25:29.848] [info] Accepted new action goal ×2 + 14.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275501 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.275501 ms (missed cycles : 2).[0m ×2 + 15.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408036 ms (missed cycles : 2). + 15.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408036 ms (missed cycles : 2).[0m ×2 + 15.90sWARNros2_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 ×4 + 16.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300280 ms (missed cycles : 3). + 16.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300280 ms (missed cycles : 3).[0m ×2 + 16.25sINFOobjective_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 + 16.25sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.25sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.25sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.25sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.25sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.25sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.25sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.25sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306182 ms (missed cycles : 3). + 17.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.306182 ms (missed cycles : 3).[0m ×2 + 18.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958693 ms (missed cycles : 3). + 18.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958693 ms (missed cycles : 3).[0m ×2 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614689 ms (missed cycles : 3). + 19.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614689 ms (missed cycles : 3).[0m ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263887 ms (missed cycles : 5). + 20.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.263887 ms (missed cycles : 5).[0m ×2 + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280800 ms (missed cycles : 3). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.280800 ms (missed cycles : 3).[0m ×2 + 22.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645482 ms (missed cycles : 2). + 22.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645482 ms (missed cycles : 2).[0m ×2 + 23.81sINFOobjective_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 + 23.82sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.82sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.82sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.82sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.82sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107894 ms (missed cycles : 2). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107894 ms (missed cycles : 2).[0m ×2 + 24.69sINFOros2_control_node[2026-08-10 22:25:41.235] [info] Received new action goal ×2 + 24.69sINFOros2_control_node[2026-08-10 22:25:41.235] [info] Accepted new action goal ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050754 ms (missed cycles : 2). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050754 ms (missed cycles : 2).[0m ×2 + 25.88sINFOobjective_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 + 25.89sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183010 ms (missed cycles : 2). + 26.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183010 ms (missed cycles : 2).[0m ×2 + 26.19sINFOros2_control_node[2026-08-10 22:25:42.727] [info] Received new action goal ×2 + 26.19sINFOros2_control_node[2026-08-10 22:25:42.727] [info] Accepted new action goal ×2 + 26.74sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 27.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722088 ms (missed cycles : 2). + 27.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722088 ms (missed cycles : 2).[0m ×2 + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010127 ms (missed cycles : 2). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.010127 ms (missed cycles : 2).[0m ×2 + 28.46sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.46sINFOros2_control_node[2026-08-10 22:25:45.005] [info] Received new action goal ×2 + 28.46sINFOros2_control_node[2026-08-10 22:25:45.005] [info] Accepted new action goal ×2 + 29.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034803 ms (missed cycles : 2). + 29.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034803 ms (missed cycles : 2).[0m ×2 + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283293 ms (missed cycles : 4). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283293 ms (missed cycles : 4).[0m ×2 + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507095 ms (missed cycles : 3). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507095 ms (missed cycles : 3).[0m ×2 + 31.49sINFOros2_control_node[2026-08-10 22:25:48.035] [info] Received new action goal ×2 + 31.49sINFOros2_control_node[2026-08-10 22:25:48.035] [info] Accepted new action goal ×2 + 31.78sWARNros2_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 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384121 ms (missed cycles : 4). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384121 ms (missed cycles : 4).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564901 ms (missed cycles : 3). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564901 ms (missed cycles : 3).[0m ×2 + 34.07sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 34.07sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.11sINFOros2_control_node[2026-08-10 22:25:50.647] [info] Received new action goal ×2 + 34.11sINFOros2_control_node[2026-08-10 22:25:50.647] [info] Accepted new action goal ×2 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115825 ms (missed cycles : 2). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115825 ms (missed cycles : 2).[0m ×2 + 35.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463115 ms (missed cycles : 2). + 35.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463115 ms (missed cycles : 2).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080312 ms (missed cycles : 3). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080312 ms (missed cycles : 3).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389312 ms (missed cycles : 2). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389312 ms (missed cycles : 2).[0m ×2 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648989 ms (missed cycles : 3). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648989 ms (missed cycles : 3).[0m ×2 + 40.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433897 ms (missed cycles : 3). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433897 ms (missed cycles : 3).[0m ×2 + 41.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395203 ms (missed cycles : 3). + 41.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.395203 ms (missed cycles : 3).[0m ×2 + 41.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397177 ms (missed cycles : 3). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397177 ms (missed cycles : 3).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620601 ms (missed cycles : 3). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620601 ms (missed cycles : 3).[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563028 ms (missed cycles : 3). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563028 ms (missed cycles : 3).[0m ×2 + 44.77sINFOros2_control_node[2026-08-10 22:26:01.315] [info] Received new action goal ×2 + 44.77sINFOros2_control_node[2026-08-10 22:26:01.315] [info] Accepted new action goal ×2 + 44.97sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779878 ms (missed cycles : 2). + 45.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779878 ms (missed cycles : 2).[0m ×2 + 45.93sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786400762.47204280 seconds ×3 + 46.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023832 ms (missed cycles : 4). + 46.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023832 ms (missed cycles : 4).[0m ×2 + 46.71sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786400763.24994040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 46.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 47.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407476 ms (missed cycles : 3). + 47.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407476 ms (missed cycles : 3).[0m ×2 + 47.85sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 47.86sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.88sINFOros2_control_node[2026-08-10 22:26:04.417] [info] Received new action goal ×2 + 47.88sINFOros2_control_node[2026-08-10 22:26:04.417] [info] Accepted new action goal ×2 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667491 ms (missed cycles : 3). + 48.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667491 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 27.0s | 21 errors · 114 warnings · 327 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.25sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×16 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400777.36815166 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400777.97432828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_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 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.93sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Accepted new action goal ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400779.63236713 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786400780.23951602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.23sINFOobjective_server_nodeFound path in 5 iterations (0.00558624 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.30sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_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 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006652 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006652 ms (missed cycles : 2).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705559 ms (missed cycles : 2). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705559 ms (missed cycles : 2).[0m ×2 + 9.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325046 ms (missed cycles : 2). + 9.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325046 ms (missed cycles : 2).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989179 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989179 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393662 ms (missed cycles : 5). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.393662 ms (missed cycles : 5).[0m ×2 + 11.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722276 ms (missed cycles : 3). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722276 ms (missed cycles : 3).[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355468 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.355468 ms (missed cycles : 3).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748497 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.748497 ms (missed cycles : 2).[0m ×2 + 15.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443458 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443458 ms (missed cycles : 2).[0m ×2 + 16.48sINFOobjective_server_nodeFound path in 4 iterations (0.00304662 s). ×2 + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262901 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262901 ms (missed cycles : 3).[0m ×2 + 16.55sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 16.58sINFOobjective_server_nodeFound path in 12 iterations (0.00462431 s). ×2 + 16.64sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 16.67sINFOobjective_server_nodeFound path in 2 iterations (0.00294405 s). ×2 + 16.71sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 16.74sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 16.76sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 16.78sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 16.81sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 16.83sINFOobjective_server_nodeFound path in 8 iterations (0.00336597 s). ×2 + 16.88sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 16.90sINFOobjective_server_nodeFound path in 1 iterations (0.00394658 s). ×2 + 16.93sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 16.95sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 16.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________X] ×2 + 16.99sINFOobjective_server_nodeFound path in 0 iterations (2.1e-07 s). ×2 + 17.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 17.03sINFOobjective_server_nodeFound path in 4 iterations (0.00362646 s). ×2 + 17.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 17.11sINFOobjective_server_nodeFound path in 4 iterations (0.00242809 s). ×2 + 17.17sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 17.19sINFOobjective_server_nodeFound path in 1 iterations (0.00398571 s). ×2 + 17.23sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.14 s); wrist_camera (1.14 s). The render path has stopped producing new frames for them.[0m ×2 + 17.24sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 17.26sINFOobjective_server_nodeFound path in 1 iterations (0.00196403 s). ×2 + 17.31sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X________________________X] ×2 + 17.33sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×6 + 17.35sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 17.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X] ×2 + 17.43sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 17.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X] ×2 + 17.66sINFOros2_control_node[2026-08-10 22:26:33.836] [info] Received new action goal ×2 + 17.66sINFOros2_control_node[2026-08-10 22:26:33.836] [info] Accepted new action goal ×2 + 17.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719377 ms (missed cycles : 3). + 17.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.719377 ms (missed cycles : 3).[0m ×2 + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401577 ms (missed cycles : 2). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401577 ms (missed cycles : 2).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152668 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152668 ms (missed cycles : 2).[0m ×2 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029800 ms (missed cycles : 2). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029800 ms (missed cycles : 2).[0m ×2 + 22.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740599 ms (missed cycles : 3). + 22.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740599 ms (missed cycles : 3).[0m ×2 + 23.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.02 s); wrist_camera (1.02 s). The render path has stopped producing new frames for them.[0m ×2 + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119427 ms (missed cycles : 3). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119427 ms (missed cycles : 3).[0m ×2 + 23.78sINFOros2_control_node[2026-08-10 22:26:39.959] [info] Received new action goal ×2 + 23.78sINFOros2_control_node[2026-08-10 22:26:39.959] [info] Accepted new action goal ×2 + 24.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725181 ms (missed cycles : 3). + 24.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.725181 ms (missed cycles : 3).[0m ×2 + 25.14sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 25.14sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 25.15sINFOros2_control_node[2026-08-10 22:26:41.323] [info] Received new action goal ×2 + 25.15sINFOros2_control_node[2026-08-10 22:26:41.323] [info] Accepted new action goal ×2 + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750852 ms (missed cycles : 2). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750852 ms (missed cycles : 2).[0m ×2 + 26.19sWARNobjective_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 + 26.19sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 26.22sINFOros2_control_node[2026-08-10 22:26:42.393] [info] Received new action goal ×2 + 26.22sINFOros2_control_node[2026-08-10 22:26:42.393] [info] Accepted new action goal ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170147 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170147 ms (missed cycles : 2).[0m ×2 + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2).[0m ×2 + 28.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3). + 28.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3).[0m ×2 + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2).[0m ×2 + 30.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 30.44sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786400806.61969113 seconds ×3 + 30.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 30.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 30.49sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 30.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 30.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 30.50sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 30.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3). + 30.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3).[0m ×2 + 31.09sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786400807.27026725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 31.30sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Received new action goal ×2 + 31.30sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Accepted new action goal ×2 + 31.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4). + 31.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4).[0m ×2 + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2).[0m ×2 + 33.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2). + 33.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.9s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×4 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1786400648.78227687 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2).[0m ×2 + 6.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 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 2.741474 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741474 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524371 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524371 ms (missed cycles : 3).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469278 ms (missed cycles : 2). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469278 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922030 ms (missed cycles : 2). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922030 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299287 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.299287 ms (missed cycles : 4).[0m ×2 + 11.89sWARNros2_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 + 12.66sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.66sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.67sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.94sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 12.94sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.95sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 12.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.00sINFOobjective_server_nodeFound path in 1 iterations (0.00194297 s). ×2 + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770164 ms (missed cycles : 2). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770164 ms (missed cycles : 2).[0m ×2 + 13.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 13.13sINFOros2_control_node[2026-08-10 22:24:19.650] [info] Received new action goal ×2 + 13.13sINFOros2_control_node[2026-08-10 22:24:19.650] [info] Accepted new action goal ×2 + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128392 ms (missed cycles : 4). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.128392 ms (missed cycles : 4).[0m ×2 + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760428 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760428 ms (missed cycles : 3).[0m ×2 + 15.60sINFOros2_control_node[2026-08-10 22:24:22.123] [info] Received new action goal ×2 + 15.60sINFOros2_control_node[2026-08-10 22:24:22.123] [info] Accepted new action goal ×2 + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4).[0m ×2 + 16.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2).[0m ×2 + 17.45sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.45sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.46sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Received new action goal ×2 + 17.46sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Accepted new action goal ×2 + 18.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4). + 18.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4).[0m ×2 + 18.85sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786400665.37291336 seconds ×3 + 19.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3).[0m ×2 + 19.45sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786400665.97590852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.53sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786400666.05604672 seconds ×3 + 20.16sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786400666.68378091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.24sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 20.25sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 20.25sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Received new action goal ×2 + 20.25sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Accepted new action goal ×2 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4). + 20.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4).[0m ×2 + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.7s | 3 errors · 63 warnings · 166 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:24:56.003] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:24:56.003] [info] Accepted new action goal ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700797 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700797 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562128 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562128 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328377 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328377 ms (missed cycles : 2).[0m ×2 + 2.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-10 22:24:58.460] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-10 22:24:58.460] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-08-10 22:24:59.266] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-08-10 22:24:59.266] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1786400699.28130627 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352950 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352950 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786400699.91394925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-08-10 22:25:00.087] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-10 22:25:00.087] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853703 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853703 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172871 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172871 ms (missed cycles : 3).[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sINFOros2_control_node[2026-08-10 22:25:02.426] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-10 22:25:02.426] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698708 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698708 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107267 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107267 ms (missed cycles : 4).[0m ×2 + 8.38sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960826 ms (missed cycles : 2). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.960826 ms (missed cycles : 2).[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528729 ms (missed cycles : 2). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528729 ms (missed cycles : 2).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751582 ms (missed cycles : 2). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.751582 ms (missed cycles : 2).[0m ×2 + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421804 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421804 ms (missed cycles : 2).[0m ×2 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2).[0m ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4).[0m ×2 + 14.43sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786400710.99773002 seconds ×3 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3).[0m ×2 + 15.64sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786400711.64431477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.67sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.68sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.70sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786400711.70447731 seconds ×3 + 16.28sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786400712.28745627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3).[0m ×2 + 16.38sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 16.38sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.39sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Received new action goal ×2 + 16.39sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Accepted new action goal ×2 + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2).[0m ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5).[0m ×2 + 18.39sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786400714.39759350 seconds ×3 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 18 errors · 60 warnings · 237 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620601 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620601 ms (missed cycles : 3).[0m ×2 + 0.63sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.63sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.64sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.64sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.64sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.64sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563028 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563028 ms (missed cycles : 3).[0m ×2 + 1.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.51sINFOros2_control_node[2026-08-10 22:26:01.315] [info] Received new action goal ×2 + 1.51sINFOros2_control_node[2026-08-10 22:26:01.315] [info] Accepted new action goal ×2 + 1.71sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779878 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779878 ms (missed cycles : 2).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786400762.47204280 seconds ×3 + 2.75sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.75sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.75sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.75sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023832 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.023832 ms (missed cycles : 4).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786400763.24994040 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×4 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407476 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407476 ms (missed cycles : 3).[0m ×2 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.59sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.62sINFOros2_control_node[2026-08-10 22:26:04.417] [info] Received new action goal ×2 + 4.62sINFOros2_control_node[2026-08-10 22:26:04.417] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667491 ms (missed cycles : 3). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667491 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155308 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.155308 ms (missed cycles : 3).[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034257 ms (missed cycles : 5). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034257 ms (missed cycles : 5).[0m ×2 + 8.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.31sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.31sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.31sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.31sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995038 ms (missed cycles : 5). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.995038 ms (missed cycles : 5).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778112 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778112 ms (missed cycles : 2).[0m ×2 + 10.70sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 10.70sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.71sINFOros2_control_node[2026-08-10 22:26:10.513] [info] Received new action goal ×2 + 10.71sINFOros2_control_node[2026-08-10 22:26:10.513] [info] Accepted new action goal ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616022 ms (missed cycles : 3). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616022 ms (missed cycles : 3).[0m ×2 + 11.40sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087404 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087404 ms (missed cycles : 2).[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358308 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358308 ms (missed cycles : 3).[0m ×2 + 13.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008901 ms (missed cycles : 3). + 13.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008901 ms (missed cycles : 3).[0m ×2 + 14.32sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786400774.12011814 seconds ×3 + 14.90sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400774.70046067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3).[0m ×2 + 15.04sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 15.04sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.05sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Received new action goal ×2 + 15.05sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Accepted new action goal ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4).[0m ×2 + 16.32sINFOobjective_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 + 16.33sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.38sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.38sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.38sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.62sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 16.63sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4).[0m ×2 + 17.57sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400777.36815166 seconds ×3 + 17.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 17.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 17.58sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 17.58sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 17.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 17.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615063 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615063 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213401 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213401 ms (missed cycles : 2).[0m ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887844 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887844 ms (missed cycles : 4).[0m ×2 + 2.62sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.62sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698713 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698713 ms (missed cycles : 3).[0m ×2 + 3.22sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786400688.76600862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.40sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 3.40sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.41sINFOros2_control_node[2026-08-10 22:24:48.949] [info] Received new action goal ×2 + 3.41sINFOros2_control_node[2026-08-10 22:24:48.949] [info] Accepted new action goal ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466512 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466512 ms (missed cycles : 3).[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442487 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442487 ms (missed cycles : 3).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.022708 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.022708 ms (missed cycles : 5).[0m ×2 + 6.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.48sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 6.48sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 6.74sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 6.74sINFOobjective_server_nodeFound path in 0 iterations (1.8e-07 s). ×2 + 6.75sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (2.69e-07 s). ×2 + 6.77sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 6.78sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×4 + 6.80sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 6.81sWARNros2_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 + 6.81sINFOobjective_server_nodeFound path in 1 iterations (0.00172734 s). ×2 + 6.88sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 6.89sINFOobjective_server_nodeFound path in 1 iterations (0.00311803 s). ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 6.96sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.18sINFOros2_control_node[2026-08-10 22:24:52.721] [info] Received new action goal ×2 + 7.18sINFOros2_control_node[2026-08-10 22:24:52.721] [info] Accepted new action goal ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508330 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.508330 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669098 ms (missed cycles : 5). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.669098 ms (missed cycles : 5).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563268 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563268 ms (missed cycles : 3).[0m ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 9.85sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 9.85sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 9.86sINFOobjective_server_nodeFound path in 0 iterations (2e-07 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 9.91sINFOobjective_server_nodeFound path in 1 iterations (0.00282781 s). ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 10.03sINFOros2_control_node[2026-08-10 22:24:55.571] [info] Received new action goal ×2 + 10.03sINFOros2_control_node[2026-08-10 22:24:55.571] [info] Accepted new action goal ×2 + 10.46sINFOros2_control_node[2026-08-10 22:24:56.003] [info] Received new action goal ×2 + 10.46sINFOros2_control_node[2026-08-10 22:24:56.003] [info] Accepted new action goal ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700797 ms (missed cycles : 3). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700797 ms (missed cycles : 3).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562128 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562128 ms (missed cycles : 3).[0m ×2 + 12.83sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328377 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328377 ms (missed cycles : 2).[0m ×2 + 12.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 12.91sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.92sINFOros2_control_node[2026-08-10 22:24:58.460] [info] Received new action goal ×2 + 12.92sINFOros2_control_node[2026-08-10 22:24:58.460] [info] Accepted new action goal ×2 + 13.72sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.73sINFOros2_control_node[2026-08-10 22:24:59.266] [info] Got request to cancel active goal. ×2 + 13.73sINFOros2_control_node[2026-08-10 22:24:59.266] [info] Canceling active goal... ×2 + 13.74sERRORobjective_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: 1786400699.28130627 seconds ×3 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352950 ms (missed cycles : 2). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352950 ms (missed cycles : 2).[0m ×2 + 14.37sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786400699.91394925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.54sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 14.55sINFOros2_control_node[2026-08-10 22:25:00.087] [info] Received new action goal ×2 + 14.55sINFOros2_control_node[2026-08-10 22:25:00.087] [info] Accepted new action goal ×2 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853703 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853703 ms (missed cycles : 3).[0m ×2 + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172871 ms (missed cycles : 3). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172871 ms (missed cycles : 3).[0m ×2 + 15.96sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.89sINFOros2_control_node[2026-08-10 22:25:02.426] [info] Received new action goal ×2 + 16.89sINFOros2_control_node[2026-08-10 22:25:02.426] [info] Accepted new action goal ×2 + 17.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698708 ms (missed cycles : 3). + 17.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698708 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.1s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2).[0m ×2 + 1.27sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.28sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786400665.37291336 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786400665.97590852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786400666.05604672 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786400666.68378091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4).[0m ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206095 ms (missed cycles : 4). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206095 ms (missed cycles : 4).[0m ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.41sINFOros2_control_node[2026-08-10 22:24:30.107] [info] Received new action goal ×2 + 7.41sINFOros2_control_node[2026-08-10 22:24:30.107] [info] Accepted new action goal ×2 + 7.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×4 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441333 ms (missed cycles : 4). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.441333 ms (missed cycles : 4).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576063 ms (missed cycles : 3). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.576063 ms (missed cycles : 3).[0m ×2 + 9.72sINFOobjective_server_nodeFound path in 0 iterations (2.31e-07 s). ×2 + 9.73sINFOros2_control_node[2026-08-10 22:24:32.426] [info] Received new action goal ×2 + 9.73sINFOros2_control_node[2026-08-10 22:24:32.426] [info] Accepted new action goal ×2 + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227136 ms (missed cycles : 5). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227136 ms (missed cycles : 5).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 12.05sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 12.05sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 12.05sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 14.37sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 14.37sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 14.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 14.46sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 14.47sERRORobjective_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: 1786400677.17604756 seconds ×3 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 15.27sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.27sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 15.27sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 16.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 16.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 63 warnings · 139 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2).[0m ×2 + 2.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786400806.61969113 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786400807.27026725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2).[0m ×2 + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168900 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168900 ms (missed cycles : 3).[0m ×2 + 7.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.70sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.70sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.96sINFOobjective_server_nodeFound path in 0 iterations (2.91e-07 s). ×2 + 7.96sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.97sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 7.98sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 8.01sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.03sINFOobjective_server_nodeFound path in 1 iterations (0.00275733 s). ×2 + 8.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.16sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.18sINFOros2_control_node[2026-08-10 22:26:51.727] [info] Received new action goal ×2 + 8.18sINFOros2_control_node[2026-08-10 22:26:51.727] [info] Accepted new action goal ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796925 ms (missed cycles : 3). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796925 ms (missed cycles : 3).[0m ×2 + 8.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.15 s); wrist_camera (1.15 s). The render path has stopped producing new frames for them.[0m ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626816 ms (missed cycles : 3). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626816 ms (missed cycles : 3).[0m ×2 + 10.65sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 10.65sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 12.55sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 12.55sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 12.56sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 12.56sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 12.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 13.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 13.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 14.75sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.89sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.90sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 14.90sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 16.81sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 3 errors · 63 warnings · 103 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.50sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.50sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.50sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 + 7.31sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610944 ms (missed cycles : 3). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610944 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808744 ms (missed cycles : 3). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.808744 ms (missed cycles : 3).[0m ×2 + 9.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482201 ms (missed cycles : 3). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.482201 ms (missed cycles : 3).[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457598 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457598 ms (missed cycles : 3).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158999 ms (missed cycles : 4). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158999 ms (missed cycles : 4).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785935 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785935 ms (missed cycles : 2).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235080 ms (missed cycles : 2). + 14.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235080 ms (missed cycles : 2).[0m ×2 + 14.20sWARNros2_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 + 14.46sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.46sERRORobjective_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: 1786400828.66117764 seconds ×3 + 15.06sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786400829.26279640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307581 ms (missed cycles : 4). + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307581 ms (missed cycles : 4).[0m ×2 + 15.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 15.27sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.28sINFOros2_control_node[2026-08-10 22:27:09.483] [info] Received new action goal ×2 + 15.28sINFOros2_control_node[2026-08-10 22:27:09.483] [info] Accepted new action goal ×2 + 16.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136268 ms (missed cycles : 2). + 16.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136268 ms (missed cycles : 2).[0m ×2 + 17.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804663 ms (missed cycles : 3). + 17.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804663 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 57 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×6 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 + 6.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 6.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 6.53sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 6.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.79sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 6.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 6.80sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 6.81sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 6.83sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 6.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770839 ms (missed cycles : 3). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770839 ms (missed cycles : 3).[0m ×2 + 6.89sINFOobjective_server_nodeFound path in 1 iterations (0.00166019 s). ×2 + 6.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 6.98sINFOobjective_server_nodeFound path in 1 iterations (0.00305492 s). ×2 + 7.04sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 7.05sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 7.19sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 7.29sINFOros2_control_node[2026-08-10 22:24:41.747] [info] Received new action goal ×2 + 7.29sINFOros2_control_node[2026-08-10 22:24:41.747] [info] Accepted new action goal ×2 + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312168 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312168 ms (missed cycles : 2).[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.191846 ms (missed cycles : 4).[0m ×2 + 9.70sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 9.97sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 9.97sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 9.98sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 10.00sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786400684.46382189 seconds ×3 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018029 ms (missed cycles : 2). + 10.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.018029 ms (missed cycles : 2).[0m ×2 + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615063 ms (missed cycles : 4). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.615063 ms (missed cycles : 4).[0m ×2 + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213401 ms (missed cycles : 2). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213401 ms (missed cycles : 2).[0m ×2 + 12.86sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887844 ms (missed cycles : 4). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887844 ms (missed cycles : 4).[0m ×2 + 14.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698713 ms (missed cycles : 3). + 14.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698713 ms (missed cycles : 3).[0m ×2 + 14.30sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786400688.76600862 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.48sINFOobjective_server_nodeFound path in 0 iterations (5.6e-07 s). ×2 + 14.49sINFOros2_control_node[2026-08-10 22:24:48.949] [info] Received new action goal ×2 + 14.49sINFOros2_control_node[2026-08-10 22:24:48.949] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466512 ms (missed cycles : 3). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466512 ms (missed cycles : 3).[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442487 ms (missed cycles : 3). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442487 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 56 warnings · 332 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.46 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 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 0.44sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.44sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.44sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.44sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.44sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.44sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 0.45sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 0.45sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 1.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.72sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 2.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.57sWARNros2_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 + 2.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.22sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.22sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.23sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.23sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 3.84sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.95sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 + 6.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717522 ms (missed cycles : 3). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717522 ms (missed cycles : 3).[0m ×2 + 6.43sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 6.43sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.44sINFOros2_control_node[2026-08-10 22:24:01.099] [info] Received new action goal ×2 + 6.44sINFOros2_control_node[2026-08-10 22:24:01.099] [info] Accepted new action goal ×2 + 6.85sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787697 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787697 ms (missed cycles : 3).[0m ×2 + 7.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732360 ms (missed cycles : 2). + 8.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.732360 ms (missed cycles : 2).[0m ×2 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843544 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.843544 ms (missed cycles : 3).[0m ×2 + 10.16sINFOros2_control_node[2026-08-10 22:24:04.819] [info] Received new action goal ×2 + 10.16sINFOros2_control_node[2026-08-10 22:24:04.820] [info] Accepted new action goal ×2 + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3). + 10.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 13.46sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.47sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 13.47sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 13.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 14.10sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.11sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 14.11sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 14.13sERRORobjective_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: 1786400648.78227687 seconds ×3 + 14.13sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.13sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.15sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 14.15sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 14.75sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.85sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 15.46sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 15.63sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.63sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 15.63sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 10.7s | 6 errors · 54 warnings · 178 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 1.34sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 1.35sERRORobjective_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: 1786400849.69276309 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×10 + 1.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 1.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 1.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 1.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 4.07sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853521 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853521 ms (missed cycles : 2).[0m ×2 + 6.76sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 6.76sINFOros2_control_node[2026-08-10 22:27:35.102] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-08-10 22:27:35.102] [info] Accepted new action goal ×2 + 6.76sINFOros2_control_node[2026-08-10 22:27:35.102] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837453 ms (missed cycles : 2). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.837453 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602152 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602152 ms (missed cycles : 2).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324843 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324843 ms (missed cycles : 2).[0m ×2 + 10.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2).[0m ×2 + 13.35sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Got request to cancel active goal. ×2 + 13.35sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Canceling active goal... ×2 + 13.35sERRORobjective_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: 1786400861.69350171 seconds ×3 + 13.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786400862.27053189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2).[0m ×2 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2).[0m ×2 + 15.99sWARNros2_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 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 10.6s | 3 errors · 60 warnings · 179 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921089 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921089 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240988 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362743 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362743 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622971 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622971 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786400839.07802844 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×5 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×10 + 3.83sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786400839.66249084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-08-10 22:27:19.786] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-10 22:27:19.786] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718292 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718292 ms (missed cycles : 3).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805772 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805772 ms (missed cycles : 4).[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.86sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296479 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296479 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359126 ms (missed cycles : 3). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359126 ms (missed cycles : 3).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730717 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730717 ms (missed cycles : 3).[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986359 ms (missed cycles : 2). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986359 ms (missed cycles : 2).[0m ×2 + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4).[0m ×2 + 10.53sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3).[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 13.85sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.86sERRORobjective_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: 1786400849.69276309 seconds ×3 + 14.49sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.52sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.53sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.54sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.55sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 15.16sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.18sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 15.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 15.85sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.94sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 15.94sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.96sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 16.58sWARNros2_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 + 16.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 16.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.4s | 3 errors · 57 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158999 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158999 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785935 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785935 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235080 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235080 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1786400828.66117764 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.24sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786400829.26279640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307581 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307581 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.46sINFOros2_control_node[2026-08-10 22:27:09.483] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-08-10 22:27:09.483] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136268 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136268 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804663 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804663 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986178 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986178 ms (missed cycles : 2).[0m ×2 + 7.47sINFOros2_control_node[2026-08-10 22:27:13.492] [info] Received new action goal ×2 + 7.47sINFOros2_control_node[2026-08-10 22:27:13.492] [info] Accepted new action goal ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287389 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287389 ms (missed cycles : 2).[0m ×2 + 8.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070591 ms (missed cycles : 2). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.070591 ms (missed cycles : 2).[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921089 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921089 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240988 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240988 ms (missed cycles : 2).[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362743 ms (missed cycles : 3). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362743 ms (missed cycles : 3).[0m ×2 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622971 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622971 ms (missed cycles : 3).[0m ×2 + 13.05sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786400839.07802844 seconds ×3 + 13.63sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786400839.66249084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.74sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 13.75sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.76sINFOros2_control_node[2026-08-10 22:27:19.786] [info] Received new action goal ×2 + 13.76sINFOros2_control_node[2026-08-10 22:27:19.786] [info] Accepted new action goal ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718292 ms (missed cycles : 3). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718292 ms (missed cycles : 3).[0m ×2 + 14.29sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805772 ms (missed cycles : 4). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805772 ms (missed cycles : 4).[0m ×2 + 15.67sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 15.67sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296479 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296479 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.1s | 56 errors · 39 warnings · 282 info |
+ 0.00sWARNros2_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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786400866.43067956 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786400867.01286340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786400867.01464391 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786400867.71881986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786400867.71938467 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786400868.29544020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786400868.61558604 seconds ×3 + 4.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475646 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475646 ms (missed cycles : 3).[0m ×2 + 7.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869304 ms (missed cycles : 2). + 7.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869304 ms (missed cycles : 2).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318329 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318329 ms (missed cycles : 2).[0m ×2 + 9.60sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.60sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.60sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.60sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.61sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.62sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.63sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 9.64sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 9.64sERRORweb_video_auth_proxy-23process has died [pid 9027, 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 + 9.64sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953448 ms (missed cycles : 2). + 9.65sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 9.65sERRORweb_bridge_auth_proxy-22process has died [pid 9026, 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 + 9.65sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 9.66sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 9.67sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 9.68sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 9.69sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 9.70sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 9.71sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 9.72sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 9.73sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 9.73sINFOvideo_server-21process has finished cleanly [pid 9023] ×2 + 9.74sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 9.75sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 9.76sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 9.77sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 9.77sINFOcontroller_managerShutdown request received.... + 9.77sINFOcontroller_managerShutting down all controllers in the controller manager. + 9.77sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 9.77sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 9.77sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 9.77sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 9.77sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 9.77sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 9.77sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 9.77sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 9.77sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 9.77sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 9.77sINFOcontroller_managerShutting down the controller manager. + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953448 ms (missed cycles : 2).[0m ×2 + 9.78sINFOvideo_server2026/08/10 22:27:53 INF shutting down gracefully ×2 + 9.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.78sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.78sINFOvideo_server2026/08/10 22:27:54 INF [WebRTC] closing ×2 + 9.78sINFOvideo_server2026/08/10 22:27:54 INF [RTSP] closing ×2 + 9.78sINFOvideo_server2026/08/10 22:27:54 INF waiting for running hooks ×2 + 9.78sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 9.78sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 9.78sERRORmove_groupStack trace (most recent call last) in thread 9304: ×2 + 9.78sWARNparameter_manager_nodeROS node was shutdown. ×2 + 9.78sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 9.78sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e286bea63, in __clone ×2 + 9.78sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e28631aa3, in ×2 + 9.78sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e288c3db3, in ×2 + 9.78sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f9e29030fe7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 9.78sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e28c55620, in rclcpp::Rate::sleep() ×2 + 9.78sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e28b97d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 9.78sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f9e28b59087, in ×2 + 9.78sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e28892390, in __cxa_throw ×2 + 9.78sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e2887ca54, in std::terminate() ×2 + 9.78sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e288920d9, in ×2 + 9.78sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f9e2887cff4, in ×2 + 9.78sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e285bd8fe, in abort ×2 + 9.78sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e285da27d, in raise ×2 + 9.78sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9e28633b2c, in pthread_kill ×2 + 9.78sERRORmove_groupAborted (Signal sent by tkill() 8936 0) ×2 + 9.78sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 9.78sINFOros2_control_nodeShutdown request received....[0m ×2 + 9.78sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 9.78sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 9.78sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 9.78sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 9.78sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 9.78sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 9.79sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.79sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 9.79sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 9.79sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 9.79sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 9.79sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 9.79sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 9.79sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 9.79sERRORmove_group-9process has died [pid 8936, 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_m68xekok --params-file /tmp/launch_params_6b40voby --params-file /tmp/launch_params_wny5lat3 --params-file /tmp/launch_params_82ayb6fw --params-file /tmp/launch_params_6m4fpsdn --params-file /tmp/launch_params_kmtvs18q']. ×2 + 9.98sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 9.98sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 9.99sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 10.71sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9020] ×2 + 10.71sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 10.77sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8940] ×2 + 10.77sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8939] ×2 + 10.78sINFOexecute_objective_bridge-17process has finished cleanly [pid 8944] ×2 + 10.79sINFOui_teleop_bridge-18process has finished cleanly [pid 8945] ×2 + 10.79sINFOcomponent_container_mt-16process has finished cleanly [pid 8943] ×2 + 10.81sINFOwaypoint_manager_node-11process has finished cleanly [pid 8938] ×2 + 10.83sINFOparameter_manager_node-10process has finished cleanly [pid 8937] ×2 + 10.83sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 10.94sINFOobjective_server_node[0;m[2026-08-10 22:27:55.264] [moveit_pro_license] [info] ×2 + 10.94sINFOobjective_server_node************************************************* ×4 + 10.94sINFOobjective_server_node* MoveIt Pro License ×2 + 10.94sINFOobjective_server_node* Application has successfully terminated ×2 + 11.41sINFOobjective_server_node_main-14process has finished cleanly [pid 8941] ×2 + 11.41sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.90sINFOcomponent_container_mt-15process has finished cleanly [pid 8942] ×2 + 11.91sINFOweb_bridge-19process has finished cleanly [pid 8946] ×2 + 11.91sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 12.43sINFOros2_control_node-1process has finished cleanly [pid 8899] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 4.7s | 3 errors · 42 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×4 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Canceling active goal... ×2 + 3.25sERRORobjective_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: 1786400861.69350171 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.26sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.26sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786400862.27053189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2).[0m ×2 + 5.88sWARNros2_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 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3).[0m ×2 + 7.99sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786400866.43067956 seconds ×3 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2).[0m ×2 + 8.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786400867.01286340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 8.57sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 8.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 8.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786400867.01464391 seconds ×3 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3).[0m ×2 + 9.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786400867.71881986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.28sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786400867.71938467 seconds ×3 + 9.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786400868.29544020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786400868.61558604 seconds ×3 + 10.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3).[0m ×2 + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 4.4s | 37 warnings · 124 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786400712.28745627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.10sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786400714.39759350 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635591 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635591 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786400715.97583413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×4 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.14sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.14sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.84sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.84sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.92sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.95sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 5.95sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.95sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.98sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.25sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 6.25sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3).[0m ×2 + 7.51sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786400719.79832888 seconds ×3 + 8.15sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786400720.44184995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.16sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 8.16sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 8.24sINFOobjective_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 + 8.25sINFOobjective_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 + 8.51sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 8.51sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 8.55sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Received new action goal ×2 + 8.55sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Accepted new action goal ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3).[0m ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2). + 9.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2).[0m ×2 + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3). + 11.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 156 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4).[0m ×2 + 1.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786400710.99773002 seconds ×3 + 1.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.98sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.98sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.98sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.99sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.99sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3).[0m ×2 + 2.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786400711.64431477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.65sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.65sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.66sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786400711.70447731 seconds ×3 + 3.26sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786400712.28745627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3).[0m ×2 + 3.36sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.37sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Received new action goal ×2 + 3.37sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Accepted new action goal ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2).[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5).[0m ×2 + 5.37sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786400714.39759350 seconds ×3 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635591 ms (missed cycles : 4). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635591 ms (missed cycles : 4).[0m ×2 + 6.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786400715.97583413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.21sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 7.87sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.41sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [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 + 8.41sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 8.71sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.10sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [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 + 9.10sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.18sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.22sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.22sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.22sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.24sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 9.49sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [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 + 9.51sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 9.51sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×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 | 3.2s | 21 errors · 31 warnings · 230 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087404 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087404 ms (missed cycles : 2).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358308 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358308 ms (missed cycles : 3).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008901 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008901 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786400774.12011814 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×10 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400774.70046067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 3.65sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 3.66sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_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 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4).[0m ×2 + 6.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400777.36815166 seconds ×3 + 6.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 6.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 6.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 6.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 6.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 6.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400777.97432828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 6.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 6.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 6.91sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Received new action goal ×2 + 6.91sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Accepted new action goal ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4).[0m ×2 + 8.43sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400779.63236713 seconds ×3 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4). + 8.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4).[0m ×2 + 9.04sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786400780.23951602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 9.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 9.21sINFOobjective_server_nodeFound path in 5 iterations (0.00558624 s). ×2 + 9.27sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 9.28sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Received new action goal ×2 + 9.28sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Accepted new action goal ×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 | 2.3s | 21 errors · 28 warnings · 230 info |
+ 0.00sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786400774.12011814 seconds ×3 + 0.01sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.01sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×10 + 0.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 0.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.02sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.02sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.02sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.58sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400774.70046067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 0.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3). + 0.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3).[0m ×2 + 0.73sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 0.73sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 0.73sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Received new action goal ×2 + 0.74sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4).[0m ×2 + 2.00sINFOobjective_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 + 2.01sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 2.06sINFOobjective_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 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.06sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.06sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 2.30sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 2.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400777.36815166 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.26sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.27sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 3.27sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400777.97432828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 3.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 3.91sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.91sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 3.91sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 3.99sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4).[0m ×2 + 5.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400779.63236713 seconds ×3 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786400780.23951602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.29sINFOobjective_server_nodeFound path in 5 iterations (0.00558624 s). ×2 + 6.34sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 6.36sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Accepted new action goal ×2 + 7.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2). + 7.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3).[0m ×2 + 8.22sWARNros2_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 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 32 warnings · 585 info |
+ 0.00sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.00sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 0.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.05sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.05sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.06sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.07sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.10sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.14sINFOmove_group ×4 + 0.14sINFOmove_group[92mYou can start planning now![0m ×2 + 0.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.77sINFOobjective_server_node[2026-08-10 22:23:51.035] [moveit_pro_license] [info] ×2 + 0.77sINFOobjective_server_node************************************************* ×4 + 0.77sINFOobjective_server_node* MoveIt Pro License ×2 + 0.77sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.88sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 0.88sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 0.89sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.89sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.89sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.89sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.89sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.89sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.89sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.89sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 1.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 1.15sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 1.15sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 1.17sINFOcomponent_container_mt[2026-08-10 22:23:51.441] [moveit_pro_license] [info] ×2 + 1.17sINFOcomponent_container_mt************************************************* ×4 + 1.17sINFOcomponent_container_mt* MoveIt Pro License ×2 + 1.17sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 1.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 1.21sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 1.21sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 1.21sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 1.21sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 1.21sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 1.21sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 1.21sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 1.21sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 1.21sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 1.21sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 1.22sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 1.22sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 1.22sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 1.22sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 1.26sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 1.26sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 1.26sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 1.26sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 1.32sWARNobjective_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 + 1.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 1.34sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.35sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.36sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 1.36sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 1.36sINFOros2_control_node[2026-08-10 22:23:51.632] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.36sINFOros2_control_node[2026-08-10 22:23:51.632] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 1.37sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 1.38sINFOros2_control_node[2026-08-10 22:23:51.655] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 1.39sINFOros2_control_node[2026-08-10 22:23:51.655] [info] Controller state will be published at 50 Hz. ×2 + 1.39sINFOros2_control_node[2026-08-10 22:23:51.660] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.58sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674978 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674978 ms (missed cycles : 2).[0m ×2 + 1.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.67sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.67sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.72sINFOros2-6process has finished cleanly [pid 8904] ×2 + 1.74sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.74sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.74sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.74sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.75sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.75sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.75sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.75sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.75sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.75sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.75sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.75sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.75sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 1.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.76sINFOcontroller_managerSuccessfully switched controllers! ×21 + 1.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 1.76sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.76sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 2.04sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.04sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.04sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.04sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.09sINFOros2-5process has finished cleanly [pid 8903] ×2 + 2.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 2.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 2.15sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.15sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.16sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.16sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.18sINFOros2_control_node[2026-08-10 22:23:52.452] [info] Controller state will be published at 20 Hz. ×2 + 2.18sINFOros2_control_node[2026-08-10 22:23:52.453] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.49sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.51sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 2.51sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 2.51sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 2.51sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 2.51sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 2.51sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 2.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.52sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 2.52sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 2.52sINFOros2-8process has finished cleanly [pid 8906] ×2 + 2.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 2.55sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 2.55sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 2.55sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 2.55sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 2.55sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 2.55sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 2.55sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 2.55sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 2.56sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 2.56sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 2.79sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.86sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.86sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.86sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.86sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.86sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 2.86sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 2.88sINFOros2-3process has finished cleanly [pid 8901] ×2 + 2.90sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.90sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.90sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.90sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.91sINFOforce_torque_sensor_broadcasterconfigure successful + 2.91sINFOros2_control_nodeconfigure successful[0m ×2 + 2.91sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.91sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.92sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.92sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 3.15sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.15sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.16sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.16sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.16sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 3.16sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 3.22sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.22sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.22sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.23sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.23sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 3.23sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 3.25sINFOros2-2process has finished cleanly [pid 8900] ×2 + 3.27sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.27sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.27sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.27sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.27sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.29sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.70sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.70sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.70sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.70sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.70sINFOros2-4process has finished cleanly [pid 8902] ×2 + 3.73sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.76sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 3.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 3.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 3.80sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 3.80sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.83sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 3.83sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 4.15sINFOros2-7process has finished cleanly [pid 8905] ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 4.39sWARNros2_control_nodeCamera render tick took 1.46 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 5.39sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 5.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 6.09sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.11sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 6.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.95sWARNros2_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 + 6.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 7.59sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.61sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 7.61sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 7.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.64sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 8.23sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.24sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 8.24sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 8.24sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 8.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 8.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 8.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 8.32sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 8.32sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 8.33sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 8.33sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 26 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.62sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786400648.78227687 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 28 warnings · 102 info |
+ 0.00sWARNros2_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 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786400866.43067956 seconds ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.11sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.11sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.11sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2).[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786400867.01286340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786400867.01464391 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786400867.71881986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786400867.71938467 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786400868.29544020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786400868.61558604 seconds ×3 + 4.33sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3).[0m ×2 + 5.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475646 ms (missed cycles : 3). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.475646 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421804 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421804 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786400710.99773002 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786400711.64431477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786400711.70447731 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786400712.28745627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786400714.39759350 seconds ×3 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 26 warnings · 87 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:24:22.123] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:24:22.123] [info] Accepted new action goal ×2 + 0.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4). + 0.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4).[0m ×2 + 1.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2).[0m ×2 + 1.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.85sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.86sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Received new action goal ×2 + 1.86sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Accepted new action goal ×2 + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786400665.37291336 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3).[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786400665.97590852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.93sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786400666.05604672 seconds ×3 + 4.56sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786400666.68378091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.65sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.65sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.66sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Received new action goal ×2 + 4.66sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Accepted new action goal ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4).[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3).[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.6s | 3 errors · 28 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786400849.69276309 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 6.12sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.6s | 25 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 8904] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8903] ×2 + 0.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.452] [info] Controller state will be published at 20 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.453] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.84sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.85sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.85sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 8906] ×2 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.88sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.21sINFOros2-3process has finished cleanly [pid 8901] ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOforce_torque_sensor_broadcasterconfigure successful + 1.24sINFOros2_control_nodeconfigure successful[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.58sINFOros2-2process has finished cleanly [pid 8900] ×2 + 1.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.60sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.60sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOros2-4process has finished cleanly [pid 8902] ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 2.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 2.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.48sINFOros2-7process has finished cleanly [pid 8905] ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 1.46 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 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNros2_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 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 6.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_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 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_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 + 2.36sERRORobjective_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: 1786400849.69276309 seconds ×3 + 2.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.43sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 2.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 2.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 3.65sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.67sINFOobjective_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 + 3.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.44sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 4.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 5.07sWARNros2_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 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 28 warnings · 102 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2).[0m ×2 + 1.01sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582368 ms (missed cycles : 3).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786400866.43067956 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.14sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.14sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.14sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.14sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.670922 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786400867.01286340 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.70sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.70sINFOobjective_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 + 3.70sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.70sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786400867.01464391 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396095 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786400867.71881986 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786400867.71938467 seconds ×3 + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786400868.29544020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786400868.61558604 seconds ×3 + 5.34sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623783 ms (missed cycles : 3).[0m ×2 + 6.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417602 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.66sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [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 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.98sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786400719.79832888 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786400720.44184995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.99sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2).[0m ×2 + 1.27sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.28sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786400665.37291336 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786400665.97590852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786400666.05604672 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786400666.68378091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421804 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421804 ms (missed cycles : 2).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.787429 ms (missed cycles : 2).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.879839 ms (missed cycles : 4).[0m ×2 + 2.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786400710.99773002 seconds ×3 + 2.98sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.99sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 2.99sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.99sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 2.99sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.00sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×3 + 3.00sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×6 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094895 ms (missed cycles : 3).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786400711.64431477 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.67sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.67sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786400711.70447731 seconds ×3 + 4.27sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786400712.28745627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.37sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Accepted new action goal ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786400714.39759350 seconds ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786400849.69276309 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 6.12sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786400849.69276309 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 6.12sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.62sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786400648.78227687 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127791 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 2.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 2.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.62sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 2.62sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 2.79sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 3.27sERRORobjective_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: 1786400648.78227687 seconds ×3 + 3.27sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 4.60sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.77sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.77sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 4.77sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1786400648.78227687 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1786400648.78227687 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1786400648.78227687 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.996321 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949148 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.59sINFOobjective_server_nodeFound path in 0 iterations (2.2e-07 s). ×2 + 1.59sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Received new action goal ×2 + 1.61sINFOros2_control_node[2026-08-10 22:24:08.130] [info] Accepted new action goal ×2 + 1.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102835 ms (missed cycles : 4).[0m ×2 + 2.23sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Got request to cancel active goal. ×2 + 2.24sINFOros2_control_node[2026-08-10 22:24:08.766] [info] Canceling active goal... ×2 + 2.26sERRORobjective_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: 1786400648.78227687 seconds ×3 + 2.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.27sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.27sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.27sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.88sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786400649.40812993 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786400649.50826025 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.510450 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786400650.11275792 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.76sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-08-10 22:24:10.286] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794186 ms (missed cycles : 3).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630934 ms (missed cycles : 3).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005975 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2).[0m ×2 + 1.27sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.28sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786400665.37291336 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786400665.97590852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786400666.05604672 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786400666.68378091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2).[0m ×2 + 1.27sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.28sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786400665.37291336 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786400665.97590852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786400666.05604672 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786400666.68378091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 26 warnings · 83 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223263 ms (missed cycles : 4).[0m ×2 + 0.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.05 s); wrist_camera (1.05 s). The render path has stopped producing new frames for them.[0m ×2 + 0.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712668 ms (missed cycles : 2).[0m ×2 + 1.27sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.27sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.28sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Received new action goal ×2 + 1.29sINFOros2_control_node[2026-08-10 22:24:23.985] [info] Accepted new action goal ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945784 ms (missed cycles : 4).[0m ×2 + 2.67sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786400665.37291336 seconds ×3 + 2.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.68sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.68sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.68sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.68sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.68sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 2.69sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×2 + 2.69sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×4 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856397 ms (missed cycles : 3).[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786400665.97590852 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786400666.05604672 seconds ×3 + 3.98sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786400666.68378091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 4.07sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-10 22:24:26.778] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483636 ms (missed cycles : 4).[0m ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577029 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189367 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 20 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819537 ms (missed cycles : 2).[0m ×2 + 0.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 0.29sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Received new action goal ×2 + 0.29sINFOros2_control_node[2026-08-10 22:24:34.755] [info] Accepted new action goal ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192225 ms (missed cycles : 2).[0m ×2 + 1.77sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283004 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Received new action goal ×2 + 2.61sINFOros2_control_node[2026-08-10 22:24:37.075] [info] Accepted new action goal ×2 + 2.70sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Got request to cancel active goal. ×2 + 2.70sINFOros2_control_node[2026-08-10 22:24:37.164] [info] Canceling active goal... ×2 + 2.71sERRORobjective_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: 1786400677.17604756 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.76sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.76sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.76sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.77sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.77sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503437 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786400677.79159760 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.34sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.51sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 3.51sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Received new action goal ×2 + 3.51sINFOros2_control_node[2026-08-10 22:24:37.975] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.986387 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.519133 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 26 warnings · 66 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:24:56.003] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:24:56.003] [info] Accepted new action goal ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700797 ms (missed cycles : 3). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700797 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562128 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562128 ms (missed cycles : 3).[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.37sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.04 s); wrist_camera (1.04 s). The render path has stopped producing new frames for them.[0m ×2 + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328377 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328377 ms (missed cycles : 2).[0m ×2 + 2.44sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.44sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.46sINFOros2_control_node[2026-08-10 22:24:58.460] [info] Received new action goal ×2 + 2.46sINFOros2_control_node[2026-08-10 22:24:58.460] [info] Accepted new action goal ×2 + 3.26sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.26sINFOros2_control_node[2026-08-10 22:24:59.266] [info] Got request to cancel active goal. ×2 + 3.26sINFOros2_control_node[2026-08-10 22:24:59.266] [info] Canceling active goal... ×2 + 3.28sERRORobjective_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: 1786400699.28130627 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.29sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352950 ms (missed cycles : 2). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352950 ms (missed cycles : 2).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786400699.91394925 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.08sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.08sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.08sINFOros2_control_node[2026-08-10 22:25:00.087] [info] Received new action goal ×2 + 4.08sINFOros2_control_node[2026-08-10 22:25:00.087] [info] Accepted new action goal ×2 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853703 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853703 ms (missed cycles : 3).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172871 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172871 ms (missed cycles : 3).[0m ×2 + 5.50sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.42sINFOros2_control_node[2026-08-10 22:25:02.426] [info] Received new action goal ×2 + 6.42sINFOros2_control_node[2026-08-10 22:25:02.426] [info] Accepted new action goal ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698708 ms (missed cycles : 3). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698708 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 · 73 info |
+ 0.00sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786400712.28745627 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469176 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (2.51e-07 s). ×2 + 0.10sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.10sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Received new action goal ×2 + 0.10sINFOros2_control_node[2026-08-10 22:25:12.390] [info] Accepted new action goal ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.030489 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.825247 ms (missed cycles : 5).[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786400714.39759350 seconds ×3 + 3.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.12sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635591 ms (missed cycles : 4). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.635591 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786400715.97583413 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 4.60sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.14sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.14sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 5.45sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.84sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.84sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.92sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 5.95sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 5.95sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.95sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.98sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 6.23sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 6.25sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 6.25sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.66sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [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 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.98sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786400719.79832888 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786400720.44184995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.99sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.66sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [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 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.98sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786400719.79832888 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786400720.44184995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.99sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.66sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [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 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.98sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786400719.79832888 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786400720.44184995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.99sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552407 ms (missed cycles : 3).[0m ×2 + 0.35sINFOobjective_server_node[2026-08-10 22:25:16.891] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428880274 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.89sINFOobjective_server_node[0;93m2026-08-10 22:25:17.428908627 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897695 ms (missed cycles : 2).[0m ×2 + 1.19sINFOobjective_server_node[2026-08-10 22:25:17.731] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122167017 [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 + 1.58sINFOobjective_server_node[0;93m2026-08-10 22:25:18.122197089 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.66sINFOobjective_server_node[2026-08-10 22:25:18.203] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.239267565 [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 + 1.70sINFOobjective_server_node[0;93m2026-08-10 22:25:18.241470490 [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 22:25:18.241502693 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.73sINFOobjective_server_node[2026-08-10 22:25:18.266] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.98sINFOobjective_server_node[0;93m2026-08-10 22:25:18.517742407 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532662304 [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 + 1.99sINFOobjective_server_node[0;93m2026-08-10 22:25:18.532690736 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544476 ms (missed cycles : 3).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561324 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786400719.79832888 seconds ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.32sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.90sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786400720.44184995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.90sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.98sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 3.99sINFOobjective_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 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:25:20.837] [info] Accepted new action goal ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672039 ms (missed cycles : 3).[0m ×2 + 4.87sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.10 s); wrist_camera (1.10 s). The render path has stopped producing new frames for them.[0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613360 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047650 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 18 errors · 22 warnings · 118 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.00 s); wrist_camera (1.00 s). The render path has stopped producing new frames for them.[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087404 ms (missed cycles : 2). + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.087404 ms (missed cycles : 2).[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358308 ms (missed cycles : 3). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358308 ms (missed cycles : 3).[0m ×2 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008901 ms (missed cycles : 3). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008901 ms (missed cycles : 3).[0m ×2 + 2.92sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786400774.12011814 seconds ×3 + 2.93sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.93sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.93sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.93sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.93sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.93sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.94sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.94sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.94sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400774.70046067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.758278 ms (missed cycles : 3).[0m ×2 + 3.65sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 3.65sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.66sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Received new action goal ×2 + 3.66sINFOros2_control_node[2026-08-10 22:26:14.854] [info] Accepted new action goal ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.174149 ms (missed cycles : 4).[0m ×2 + 4.92sINFOobjective_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 + 4.93sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.98sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.14sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 5.23sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×18 + 5.24sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×10 + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4).[0m ×2 + 6.17sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400777.36815166 seconds ×3 + 6.18sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.18sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.19sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.19sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 21 errors · 22 warnings · 183 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.25sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400777.36815166 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400777.97432828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_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 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.93sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Accepted new action goal ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400779.63236713 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786400780.23951602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 5 iterations (0.00558624 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.30sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_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 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 21 errors · 22 warnings · 183 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.17sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.12 s); wrist_camera (1.12 s). The render path has stopped producing new frames for them.[0m ×2 + 0.25sERRORobjective_server_nodeMPCSphereClearance Error: Joint 'robotiq_85_right_knuckle_joint' could not be set from the provided joint states. ×21 + 0.26sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 0.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667176 ms (missed cycles : 4).[0m ×2 + 1.19sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400777.36815166 seconds ×3 + 1.20sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.20sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.20sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 1.20sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 1.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 1.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.21sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.21sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×2 + 1.21sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×4 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.149009 ms (missed cycles : 2).[0m ×2 + 1.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786400777.97432828 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.85sINFOobjective_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 + 1.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 1.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.85sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 1.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 1.93sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Received new action goal ×2 + 1.93sINFOros2_control_node[2026-08-10 22:26:18.107] [info] Accepted new action goal ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.521025 ms (missed cycles : 4).[0m ×2 + 3.24sINFOobjective_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 + 3.46sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786400779.63236713 seconds ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654086 ms (missed cycles : 4).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786400780.23951602 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.23sINFOobjective_server_nodeFound path in 5 iterations (0.00558624 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.30sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-08-10 22:26:20.475] [info] Accepted new action goal ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113336 ms (missed cycles : 2).[0m ×2 + 6.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3). + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673303 ms (missed cycles : 3).[0m ×2 + 6.16sWARNros2_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 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2).[0m ×2 + 2.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786400806.61969113 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786400807.27026725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.148245 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159532 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053537 ms (missed cycles : 2).[0m ×2 + 2.26sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.26sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.01 s); wrist_camera (1.01 s). The render path has stopped producing new frames for them.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786400806.61969113 seconds ×3 + 3.10sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.10sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.10sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.10sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.10sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.11sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.11sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.12sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555844 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786400807.27026725 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 3.91sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.92sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Received new action goal ×2 + 3.92sINFOros2_control_node[2026-08-10 22:26:47.474] [info] Accepted new action goal ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474622 ms (missed cycles : 4).[0m ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.729654 ms (missed cycles : 2).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292133 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 29 warnings · 59 info |
+ 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-08-10 22:26:54.199] [info] Accepted new action goal ×2 + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541476 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009926 ms (missed cycles : 4).[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.90sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 1.90sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-10 22:26:56.114] [info] Accepted new action goal ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023273 ms (missed cycles : 3).[0m ×2 + 3.26sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.07 s); wrist_camera (1.07 s). The render path has stopped producing new frames for them.[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` succeeded at time: 1786400817.50044918 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074826 ms (missed cycles : 3).[0m ×2 + 3.50sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.50sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.50sINFOcontroller_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 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.51sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.51sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.51sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.51sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.10sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786400818.30068517 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-08-10 22:26:58.454] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783963 ms (missed cycles : 3).[0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.470183 ms (missed cycles : 4).[0m ×2 + 6.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132674 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158999 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.158999 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785935 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785935 ms (missed cycles : 2).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235080 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235080 ms (missed cycles : 2).[0m ×2 + 2.37sWARNros2_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 + 2.63sINFOobjective_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 + 2.63sERRORobjective_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: 1786400828.66117764 seconds ×3 + 2.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.67sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 2.67sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.67sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 2.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.67sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.67sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.68sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.68sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.24sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786400829.26279640 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307581 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.307581 ms (missed cycles : 4).[0m ×2 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.46sINFOros2_control_node[2026-08-10 22:27:09.483] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-08-10 22:27:09.483] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136268 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136268 ms (missed cycles : 2).[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804663 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804663 ms (missed cycles : 3).[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 3.921089 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921089 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240988 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240988 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362743 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362743 ms (missed cycles : 3).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622971 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.622971 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786400839.07802844 seconds ×3 + 3.26sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.26sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.26sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.26sINFOcontroller_managerSuccessfully switched controllers! ×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 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_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 + 3.83sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786400839.66249084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.94sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.96sINFOros2_control_node[2026-08-10 22:27:19.786] [info] Received new action goal ×2 + 3.96sINFOros2_control_node[2026-08-10 22:27:19.786] [info] Accepted new action goal ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718292 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718292 ms (missed cycles : 3).[0m ×2 + 4.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805772 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.805772 ms (missed cycles : 4).[0m ×2 + 5.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.86sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296479 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296479 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786400849.69276309 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 6.12sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 25 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426638 ms (missed cycles : 4).[0m ×2 + 0.08sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.06 s); wrist_camera (1.06 s). The render path has stopped producing new frames for them.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126589 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 3.40sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.41sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786400849.69276309 seconds ×3 + 3.47sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 3.48sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 3.48sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 4.04sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.07sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.09sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.11sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_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 + 4.72sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 5.39sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.49sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 5.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 5.50sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 6.12sWARNros2_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 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 1.34sINFOobjective_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 + 1.35sERRORobjective_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: 1786400849.69276309 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 4.07sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791010 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793320 ms (missed cycles : 3).[0m ×2 + 1.34sINFOobjective_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 + 1.35sERRORobjective_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: 1786400849.69276309 seconds ×3 + 1.42sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.42sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 1.42sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.42sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.42sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 1.42sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.42sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.42sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.43sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] ×4 + 1.43sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×8 + 1.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786400850.32177401 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.01sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.03sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.04sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.05sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786400850.39190888 seconds ×3 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686528 ms (missed cycles : 2).[0m ×2 + 2.65sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786400850.98813009 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 2.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786400851.01001263 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363034 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786400851.67871690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.43sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 3.43sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Received new action goal ×2 + 3.45sINFOros2_control_node[2026-08-10 22:27:31.784] [info] Accepted new action goal ×2 + 4.07sWARNros2_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422561 ms (missed cycles : 4).[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.537377 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 22 warnings · 35 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Canceling active goal... ×2 + 3.25sERRORobjective_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: 1786400861.69350171 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 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786400862.27053189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2).[0m ×2 + 5.88sWARNros2_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 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 22 warnings · 35 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.09 s); wrist_camera (1.09 s). The render path has stopped producing new frames for them.[0m ×2 + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885130 ms (missed cycles : 3).[0m ×2 + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711931 ms (missed cycles : 3).[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.744190 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_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 + 3.25sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Got request to cancel active goal. ×2 + 3.25sINFOros2_control_node[2026-08-10 22:27:41.689] [info] Canceling active goal... ×2 + 3.25sERRORobjective_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: 1786400861.69350171 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 + 3.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.27sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.27sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.28sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.28sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786400862.27053189 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863807 ms (missed cycles : 2).[0m ×2 + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.602920 ms (missed cycles : 2).[0m ×2 + 5.88sWARNros2_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 + 5.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443288 ms (missed cycles : 3).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 6.4s | 35 warnings · 591 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/2026-08-10-22-23-46-980078-7e2743cbaf11-8851 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.24sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.25sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.25sINFOcontroller_managerupdate rate is 600 Hz + 1.25sINFOcontroller_managerOverruns handling is : enabled + 1.25sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.25sWARNcontroller_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. + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938551 ms (missed cycles : 2). + 1.42sINFOros2_control_node-1process started with pid [8899] ×2 + 1.42sINFOmove_group-9process started with pid [8936] ×2 + 1.42sINFOparameter_manager_node-10process started with pid [8937] ×2 + 1.42sINFOwaypoint_manager_node-11process started with pid [8938] ×2 + 1.42sINFOmove_joint_resampler_node-12process started with pid [8939] ×2 + 1.42sINFOmove_end_effector_resampler_node-13process started with pid [8940] ×2 + 1.42sINFOobjective_server_node_main-14process started with pid [8941] ×2 + 1.42sINFOcomponent_container_mt-15process started with pid [8942] ×2 + 1.42sINFOcomponent_container_mt-16process started with pid [8943] ×2 + 1.42sINFOexecute_objective_bridge-17process started with pid [8944] ×2 + 1.42sINFOui_teleop_bridge-18process started with pid [8945] ×2 + 1.42sINFOweb_bridge-19process started with pid [8946] ×2 + 1.42sINFOtf2_web_republisher_node-20process started with pid [9020] ×2 + 1.42sINFOvideo_server-21process started with pid [9023] ×2 + 1.42sINFOweb_bridge_auth_proxy-22process started with pid [9026] ×2 + 1.42sINFOweb_video_auth_proxy-23process started with pid [9027] ×2 + 1.42sINFOros2-2process started with pid [8900] ×2 + 1.42sINFOros2-3process started with pid [8901] ×2 + 1.42sINFOros2-4process started with pid [8902] ×2 + 1.42sINFOros2-5process started with pid [8903] ×2 + 1.42sINFOros2-6process started with pid [8904] ×2 + 1.42sINFOros2-7process started with pid [8905] ×2 + 1.42sINFOros2-8process started with pid [8906] ×2 + 1.45sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.45sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.45sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.45sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.45sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.45sWARNros2_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 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938551 ms (missed cycles : 2).[0m ×2 + 1.46sINFOcontroller_managerReceived robot description from topic. + 1.46sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.47sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.47sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.67sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF configuration loaded from /tmp/moveit-webrtc-fglwrm3u/mediamtx.yml ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.22sINFOmove_group[2026-08-10 22:23:49.774] [moveit_pro_license] [info] ×2 + 2.23sINFOmove_group************************************************* ×4 + 2.23sINFOmove_group* MoveIt Pro License ×2 + 2.23sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013953 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013953 ms (missed cycles : 2).[0m ×2 + 2.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.43sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.43sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.43sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.50sINFOwaypoint_manager_node[2026-08-10 22:23:50.047] [moveit_pro_license] [info] ×2 + 2.50sINFOwaypoint_manager_node************************************************* ×4 + 2.50sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.50sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.61sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.71sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.72sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.79sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.86sINFOmove_group ×4 + 2.86sINFOmove_group[92mYou can start planning now![0m ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 3.49sINFOobjective_server_node[2026-08-10 22:23:51.035] [moveit_pro_license] [info] ×2 + 3.49sINFOobjective_server_node************************************************* ×4 + 3.49sINFOobjective_server_node* MoveIt Pro License ×2 + 3.49sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.60sINFOobjective_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 + 3.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 3.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.61sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 3.61sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 3.61sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 3.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 3.87sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 3.87sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 3.89sINFOcomponent_container_mt[2026-08-10 22:23:51.441] [moveit_pro_license] [info] ×2 + 3.89sINFOcomponent_container_mt************************************************* ×4 + 3.89sINFOcomponent_container_mt* MoveIt Pro License ×2 + 3.89sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 3.93sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 3.93sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 3.93sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 3.93sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 3.93sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 3.93sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 3.93sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 3.94sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 3.94sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 3.94sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 3.94sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 3.94sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 3.94sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 3.94sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 3.98sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 3.98sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 3.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 3.98sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.04sWARNobjective_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 + 4.06sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 4.07sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 4.07sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 4.08sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 4.08sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 4.08sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.08sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.08sINFOros2_control_node[2026-08-10 22:23:51.632] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.08sINFOros2_control_node[2026-08-10 22:23:51.632] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.11sINFOros2_control_node[2026-08-10 22:23:51.655] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.11sINFOros2_control_node[2026-08-10 22:23:51.655] [info] Controller state will be published at 50 Hz. ×2 + 4.11sINFOros2_control_node[2026-08-10 22:23:51.660] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.30sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674978 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674978 ms (missed cycles : 2).[0m ×2 + 4.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 4.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 4.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 4.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 4.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 4.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 4.44sINFOros2-6process has finished cleanly [pid 8904] ×2 + 4.46sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 4.46sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 4.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 4.47sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 4.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 4.47sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 4.47sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 4.47sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 4.47sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 4.47sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 4.47sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 4.47sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 4.47sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 4.47sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.48sINFOcontroller_managerSuccessfully switched controllers! ×14 + 4.48sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 4.48sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 4.48sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 4.76sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 4.81sINFOros2-5process has finished cleanly [pid 8903] ×2 + 4.84sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 4.84sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 4.87sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 4.87sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 4.88sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 4.88sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 4.90sINFOros2_control_node[2026-08-10 22:23:52.452] [info] Controller state will be published at 20 Hz. ×2 + 4.90sINFOros2_control_node[2026-08-10 22:23:52.453] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.17sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 5.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.21sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.21sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.21sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 5.21sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 5.23sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.23sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.23sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.23sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.23sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 5.23sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 5.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 5.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 5.24sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.24sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.24sINFOros2-8process has finished cleanly [pid 8906] ×2 + 5.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.27sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.27sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.27sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.27sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.27sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.27sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.28sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.28sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.28sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.51sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 5.58sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.58sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.58sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 5.58sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 5.60sINFOros2-3process has finished cleanly [pid 8901] ×2 + 5.62sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 5.62sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.62sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.62sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.63sINFOforce_torque_sensor_broadcasterconfigure successful + 5.63sINFOros2_control_nodeconfigure successful[0m ×2 + 5.63sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.63sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.64sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 5.64sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 5.87sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 5.87sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 5.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 5.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 5.88sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×4 + 5.88sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×8 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 5.94sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 5.94sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 5.95sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 5.95sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 5.95sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 5.95sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 5.97sINFOros2-2process has finished cleanly [pid 8900] ×2 + 5.99sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 5.99sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 5.99sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 5.99sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 5.99sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 5.99sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.00sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.00sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.01sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 6.01sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 6.42sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.42sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.42sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.42sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.42sINFOros2-4process has finished cleanly [pid 8902] ×2 + 6.45sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.45sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 6.45sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 6.48sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 6.48sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 6.52sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.53sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.53sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.53sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.55sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 6.55sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.87sINFOros2-7process has finished cleanly [pid 8905] ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 7.11sWARNros2_control_nodeCamera render tick took 1.46 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 + 7.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 8.11sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 8.17sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 8.81sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 9.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 9.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.67sWARNros2_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 + 9.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 305 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.10sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.12sINFOros2-2process has finished cleanly [pid 8900] ×2 + 0.14sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.14sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.15sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.15sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.57sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.70sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.02sINFOros2-7process has finished cleanly [pid 8905] ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 1.25sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.20sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 28 warnings · 392 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOros2-8process has finished cleanly [pid 8906] ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.10sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.10sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.10sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.11sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_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 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.43sINFOros2-3process has finished cleanly [pid 8901] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.80sINFOros2-2process has finished cleanly [pid 8900] ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOros2-4process has finished cleanly [pid 8902] ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.35sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.35sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.36sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.38sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 1.38sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.70sINFOros2-7process has finished cleanly [pid 8905] ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodeCamera render tick took 1.46 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 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNros2_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 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 25 warnings · 302 info |
+ 0.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 0.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.02sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.02sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.03sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.03sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.03sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 0.09sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.09sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.09sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.09sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.10sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.10sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.12sINFOros2-2process has finished cleanly [pid 8900] ×2 + 0.14sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.14sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.14sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.14sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.14sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.14sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.15sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.15sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.15sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.57sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.57sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.57sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.57sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.57sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.60sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.60sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.63sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.63sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.67sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.67sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.68sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.70sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.70sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.02sINFOros2-7process has finished cleanly [pid 8905] ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 1.25sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.65sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 2.25sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 2.32sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.97sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.82sWARNros2_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 + 3.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.47sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.48sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.48sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.51sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 5.09sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 5.19sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.20sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 5.20sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 25 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 8904] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8903] ×2 + 0.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.452] [info] Controller state will be published at 20 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.453] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.84sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.85sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.85sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 8906] ×2 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.88sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.21sINFOros2-3process has finished cleanly [pid 8901] ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOforce_torque_sensor_broadcasterconfigure successful + 1.24sINFOros2_control_nodeconfigure successful[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.58sINFOros2-2process has finished cleanly [pid 8900] ×2 + 1.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.60sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.60sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOros2-4process has finished cleanly [pid 8902] ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 2.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 2.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.48sINFOros2-7process has finished cleanly [pid 8905] ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 1.46 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 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNros2_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 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 6.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_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 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 145 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/2026-08-10-22-23-46-980078-7e2743cbaf11-8851 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.24sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.25sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.25sINFOcontroller_managerupdate rate is 600 Hz + 1.25sINFOcontroller_managerOverruns handling is : enabled + 1.25sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.25sWARNcontroller_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. + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938551 ms (missed cycles : 2). + 1.42sINFOros2_control_node-1process started with pid [8899] ×2 + 1.42sINFOmove_group-9process started with pid [8936] ×2 + 1.42sINFOparameter_manager_node-10process started with pid [8937] ×2 + 1.42sINFOwaypoint_manager_node-11process started with pid [8938] ×2 + 1.42sINFOmove_joint_resampler_node-12process started with pid [8939] ×2 + 1.42sINFOmove_end_effector_resampler_node-13process started with pid [8940] ×2 + 1.42sINFOobjective_server_node_main-14process started with pid [8941] ×2 + 1.42sINFOcomponent_container_mt-15process started with pid [8942] ×2 + 1.42sINFOcomponent_container_mt-16process started with pid [8943] ×2 + 1.42sINFOexecute_objective_bridge-17process started with pid [8944] ×2 + 1.42sINFOui_teleop_bridge-18process started with pid [8945] ×2 + 1.42sINFOweb_bridge-19process started with pid [8946] ×2 + 1.42sINFOtf2_web_republisher_node-20process started with pid [9020] ×2 + 1.42sINFOvideo_server-21process started with pid [9023] ×2 + 1.42sINFOweb_bridge_auth_proxy-22process started with pid [9026] ×2 + 1.42sINFOweb_video_auth_proxy-23process started with pid [9027] ×2 + 1.42sINFOros2-2process started with pid [8900] ×2 + 1.42sINFOros2-3process started with pid [8901] ×2 + 1.42sINFOros2-4process started with pid [8902] ×2 + 1.42sINFOros2-5process started with pid [8903] ×2 + 1.42sINFOros2-6process started with pid [8904] ×2 + 1.42sINFOros2-7process started with pid [8905] ×2 + 1.42sINFOros2-8process started with pid [8906] ×2 + 1.45sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.45sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.45sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.45sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.45sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.45sWARNros2_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 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938551 ms (missed cycles : 2).[0m ×2 + 1.46sINFOcontroller_managerReceived robot description from topic. + 1.46sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.47sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.47sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.49sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.67sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF MediaMTX v1.19.3, linux, amd64 ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF configuration loaded from /tmp/moveit-webrtc-fglwrm3u/mediamtx.yml ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 1.89sINFOvideo_server2026/08/10 22:23:49 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 2.22sINFOmove_group[2026-08-10 22:23:49.774] [moveit_pro_license] [info] ×2 + 2.23sINFOmove_group************************************************* ×4 + 2.23sINFOmove_group* MoveIt Pro License ×2 + 2.23sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013953 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.013953 ms (missed cycles : 2).[0m ×2 + 2.42sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 2.43sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 2.43sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 2.43sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 2.50sINFOwaypoint_manager_node[2026-08-10 22:23:50.047] [moveit_pro_license] [info] ×2 + 2.50sINFOwaypoint_manager_node************************************************* ×4 + 2.50sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 2.50sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 2.61sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 2.71sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 2.72sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 2.77sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 2.78sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 2.79sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 2.79sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 2.82sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 2.86sINFOmove_group ×4 + 2.86sINFOmove_group[92mYou can start planning now![0m ×2 + 3.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 25 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 8904] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8903] ×2 + 0.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.452] [info] Controller state will be published at 20 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.453] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.84sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.85sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.85sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 8906] ×2 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.88sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.21sINFOros2-3process has finished cleanly [pid 8901] ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOforce_torque_sensor_broadcasterconfigure successful + 1.24sINFOros2_control_nodeconfigure successful[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.58sINFOros2-2process has finished cleanly [pid 8900] ×2 + 1.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.60sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.60sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOros2-4process has finished cleanly [pid 8902] ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 2.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 2.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.48sINFOros2-7process has finished cleanly [pid 8905] ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 1.46 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 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNros2_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 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 6.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_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 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 25 warnings · 456 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.00sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.01sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.05sINFOros2-6process has finished cleanly [pid 8904] ×2 + 0.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 0.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 0.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.07sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.07sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.07sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.08sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.08sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 0.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×21 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×42 + 0.09sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 0.37sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.37sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.41sINFOros2-5process has finished cleanly [pid 8903] ×2 + 0.44sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.44sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.48sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.48sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.48sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.49sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.452] [info] Controller state will be published at 20 Hz. ×2 + 0.51sINFOros2_control_node[2026-08-10 22:23:52.453] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.78sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.82sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.82sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.82sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.82sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.83sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.83sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.84sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.84sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.85sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.85sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.85sINFOros2-8process has finished cleanly [pid 8906] ×2 + 0.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.88sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.88sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.88sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.88sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.88sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.88sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.88sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.89sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.89sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 1.12sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 1.18sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 1.18sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 1.18sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 1.19sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.19sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.21sINFOros2-3process has finished cleanly [pid 8901] ×2 + 1.23sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.23sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.23sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.23sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.24sINFOforce_torque_sensor_broadcasterconfigure successful + 1.24sINFOros2_control_nodeconfigure successful[0m ×2 + 1.24sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.24sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.24sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.24sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 1.48sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.48sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.48sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.49sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 1.49sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 1.55sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.55sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.55sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.55sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.56sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.56sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.58sINFOros2-2process has finished cleanly [pid 8900] ×2 + 1.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.60sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.60sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.60sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.61sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.61sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.61sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.61sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 2.03sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.03sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.03sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.03sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.03sINFOros2-4process has finished cleanly [pid 8902] ×2 + 2.05sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.09sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 2.09sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 2.13sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 2.13sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 2.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 2.16sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.48sINFOros2-7process has finished cleanly [pid 8905] ×2 + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 2.71sWARNros2_control_nodeCamera render tick took 1.46 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 + 3.11sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 3.71sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 5.15sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNros2_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 + 5.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.93sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.93sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 6.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.56sINFOobjective_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 + 6.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.65sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 6.65sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 6.66sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 6.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 25 warnings · 392 info |
+ 0.00sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.04sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 0.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.04sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 0.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.04sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.04sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.06sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.06sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.06sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.06sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.07sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.07sINFOros2-8process has finished cleanly [pid 8906] ×2 + 0.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 0.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 0.10sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.10sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.10sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.10sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.10sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.10sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.10sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.11sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.11sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_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 + 0.41sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.43sINFOros2-3process has finished cleanly [pid 8901] ×2 + 0.45sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.45sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.45sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOforce_torque_sensor_broadcasterconfigure successful + 0.46sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.47sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400633.40301085 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400633.41322994 seconds ×3 + 0.70sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.70sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.71sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.71sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×7 + 0.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×14 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172036 ms (missed cycles : 2).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.78sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.80sINFOros2-2process has finished cleanly [pid 8900] ×2 + 0.82sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.82sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.82sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.82sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.82sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.82sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.83sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.83sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.83sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.83sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.25sINFOros2-4process has finished cleanly [pid 8902] ×2 + 1.28sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.28sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.28sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 1.31sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 1.35sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.35sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.35sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.35sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.36sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.38sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 1.38sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.70sINFOros2-7process has finished cleanly [pid 8905] ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 1.94sWARNros2_control_nodeCamera render tick took 1.46 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 + 2.34sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 2.94sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 3.64sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.50sWARNros2_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 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.16sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 5.16sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 5.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.79sINFOobjective_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 + 5.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.87sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 5.87sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.88sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 5.88sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 25 warnings · 258 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 + 7.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717522 ms (missed cycles : 3). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.717522 ms (missed cycles : 3).[0m ×2 + 7.11sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 7.11sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.13sINFOros2_control_node[2026-08-10 22:24:01.099] [info] Received new action goal ×2 + 7.13sINFOros2_control_node[2026-08-10 22:24:01.099] [info] Accepted new action goal ×2 + 7.53sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 22 warnings · 245 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 + 0.00sINFOros2-4process has finished cleanly [pid 8902] ×2 + 0.03sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786400633.99688411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.03sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.06sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 + 0.06sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_8x0tm_d4 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_z91xrvz0 --params-file /tmp/launch_params_7nq_86k2 [0m ×2 + 0.10sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.10sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.10sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.11sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.101] [info] Controller state will be published at 10 Hz. ×2 + 0.13sINFOros2_control_node[2026-08-10 22:23:54.102] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.45sINFOros2-7process has finished cleanly [pid 8905] ×2 + 0.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3). + 0.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.473683 ms (missed cycles : 3).[0m ×2 + 0.69sWARNros2_control_nodeCamera render tick took 1.46 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 + 1.09sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786400635.05703926 seconds ×3 + 1.12sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.12sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.12sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.12sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.12sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.13sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.13sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] ×6 + 1.13sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×12 + 1.69sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786400635.65787482 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2). + 1.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.849230 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786400635.71802497 seconds ×3 + 2.39sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400636.35690331 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400636.37703848 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.374608 ms (missed cycles : 4).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400637.09074545 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sWARNros2_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 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400637.24132967 seconds ×3 + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.792481 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400637.86236429 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.91sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400637.91249943 seconds ×3 + 4.52sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786400638.49616885 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.54sINFOobjective_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 + 4.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (1.7791e-05 s). ×2 + 4.62sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Received new action goal ×2 + 4.63sINFOros2_control_node[2026-08-10 22:23:58.602] [info] Accepted new action goal ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684116 ms (missed cycles : 2).[0m ×2 + 5.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969608 ms (missed cycles : 3).[0m ×2 | ||||