116
Total objective tests
33
Objectives passed
0
Objectives failed
83
Objectives skipped
9.7s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives29 pass54 skip
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 44.4s | 166 warnings · 20310 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604177 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604177 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-11 19:21:29.819] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-11 19:21:29.819] [info] Accepted new action goal ×2 + 0.88sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844941 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844941 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344825 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344825 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704180 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704180 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786476093.42544436 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168480 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168480 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786476094.02366376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×4 + 4.50sINFOros2_control_node[2026-08-11 19:21:34.197] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-11 19:21:34.197] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192830 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192830 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 6.24sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815761 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815761 ms (missed cycles : 2).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752406 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.752406 ms (missed cycles : 2).[0m ×2 + 7.79sINFOjoint_trajectory_controllerReceived new action goal ×3343 + 7.79sINFOjoint_trajectory_controllerAccepted new action goal ×3343 + 7.79sINFOros2_control_nodeReceived new action goal[0m ×6686 + 7.79sINFOros2_control_nodeAccepted new action goal[0m ×6686 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794492 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794492 ms (missed cycles : 2).[0m ×2 + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050512 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050512 ms (missed cycles : 3).[0m ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891572 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891572 ms (missed cycles : 2).[0m ×2 + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939918 ms (missed cycles : 6). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.939918 ms (missed cycles : 6).[0m ×2 + 12.25sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.35 s); wrist_camera (1.35 s). The render path has stopped producing new frames for them.[0m ×2 + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759539 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759539 ms (missed cycles : 2).[0m ×2 + 12.84sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.84sINFOjoint_trajectory_controllerGot request to cancel goal ×12 + 12.84sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×6 + 12.84sINFOros2_control_nodeGot request to cancel goal[0m ×24 + 12.84sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×12 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743992 ms (missed cycles : 2). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743992 ms (missed cycles : 2).[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028876 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028876 ms (missed cycles : 2).[0m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793956 ms (missed cycles : 2). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793956 ms (missed cycles : 2).[0m ×2 + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092920 ms (missed cycles : 2). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.092920 ms (missed cycles : 2).[0m ×2 + 17.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807807 ms (missed cycles : 3). + 17.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807807 ms (missed cycles : 3).[0m ×2 + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799409 ms (missed cycles : 5). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.799409 ms (missed cycles : 5).[0m ×2 + 19.19sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.40 s); wrist_camera (1.40 s). The render path has stopped producing new frames for them.[0m ×2 + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681545 ms (missed cycles : 2). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681545 ms (missed cycles : 2).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705500 ms (missed cycles : 2). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.705500 ms (missed cycles : 2).[0m ×2 + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716781 ms (missed cycles : 2). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716781 ms (missed cycles : 2).[0m ×2 + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876510 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876510 ms (missed cycles : 2).[0m ×2 + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059217 ms (missed cycles : 2). + 24.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059217 ms (missed cycles : 2).[0m ×2 + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960991 ms (missed cycles : 2). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960991 ms (missed cycles : 2).[0m ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717544 ms (missed cycles : 2). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717544 ms (missed cycles : 2).[0m ×2 + 26.47sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×8 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359847 ms (missed cycles : 3). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.359847 ms (missed cycles : 3).[0m ×2 + 28.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959975 ms (missed cycles : 2). + 28.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959975 ms (missed cycles : 2).[0m ×2 + 29.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661329 ms (missed cycles : 2). + 29.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661329 ms (missed cycles : 2).[0m ×2 + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509921 ms (missed cycles : 2). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.509921 ms (missed cycles : 2).[0m ×2 + 31.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701225 ms (missed cycles : 2). + 31.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.701225 ms (missed cycles : 2).[0m ×2 + 32.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766152 ms (missed cycles : 2). + 32.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766152 ms (missed cycles : 2).[0m ×2 + 33.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061274 ms (missed cycles : 2). + 33.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061274 ms (missed cycles : 2).[0m ×2 + 34.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183664 ms (missed cycles : 2). + 34.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.183664 ms (missed cycles : 2).[0m ×2 + 35.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923768 ms (missed cycles : 2). + 35.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923768 ms (missed cycles : 2).[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604106 ms (missed cycles : 3). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604106 ms (missed cycles : 3).[0m ×2 + 37.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108026 ms (missed cycles : 4). + 37.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.108026 ms (missed cycles : 4).[0m ×2 + 38.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188192 ms (missed cycles : 2). + 38.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188192 ms (missed cycles : 2).[0m ×2 + 39.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313826 ms (missed cycles : 2). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313826 ms (missed cycles : 2).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747061 ms (missed cycles : 2). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747061 ms (missed cycles : 2).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369053 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369053 ms (missed cycles : 2).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038530 ms (missed cycles : 2). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038530 ms (missed cycles : 2).[0m ×2 + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275359 ms (missed cycles : 2). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275359 ms (missed cycles : 2).[0m ×2 + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053010 ms (missed cycles : 4). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053010 ms (missed cycles : 4).[0m ×2 + 45.45sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536284 ms (missed cycles : 2). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536284 ms (missed cycles : 2).[0m ×2 + 47.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.200904 ms (missed cycles : 8). + 47.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.200904 ms (missed cycles : 8).[0m ×2 + 48.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.999446 ms (missed cycles : 5). + 48.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.999446 ms (missed cycles : 5).[0m ×2 + 48.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786476137.83351135 seconds ×3 + 48.15sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.15sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.16sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.16sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 48.17sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 48.77sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786476138.47032619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 48.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 48.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 48.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 48.83sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 48.94sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 48.95sINFOros2_control_node[2026-08-11 19:22:18.644] [info] Received new action goal ×2 + 48.95sINFOros2_control_node[2026-08-11 19:22:18.644] [info] Accepted new action goal ×2 + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268579 ms (missed cycles : 2). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268579 ms (missed cycles : 2).[0m ×2 + 50.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393727 ms (missed cycles : 6). + 50.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393727 ms (missed cycles : 6).[0m ×2 + 51.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669130 ms (missed cycles : 2). + 51.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669130 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 168 warnings · 293 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_node[2026-08-11 19:20:35.999] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491707402 [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 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491733872 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_node[2026-08-11 19:20:36.651] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-11 19:20:36.701201802 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704183672 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704207127 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-08-11 19:20:36.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-11 19:20:37.123738858 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.147974352 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.148010309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786476038.94175386 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786476039.59645343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2).[0m ×2 + 7.07sWARNros2_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 + 7.34sINFOobjective_server_nodeFound path in 0 iterations (4.85e-07 s). ×2 + 7.36sINFOros2_control_node[2026-08-11 19:20:42.901] [info] Received new action goal ×2 + 7.36sINFOros2_control_node[2026-08-11 19:20:42.901] [info] Accepted new action goal ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738752 ms (missed cycles : 5). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.738752 ms (missed cycles : 5).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340963 ms (missed cycles : 3). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340963 ms (missed cycles : 3).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782930 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782930 ms (missed cycles : 2).[0m ×2 + 10.47sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×12 + 10.47sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.49sINFOros2_control_node[2026-08-11 19:20:46.031] [info] Received new action goal ×2 + 10.49sINFOros2_control_node[2026-08-11 19:20:46.031] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700642 ms (missed cycles : 4). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.700642 ms (missed cycles : 4).[0m ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258419 ms (missed cycles : 2). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258419 ms (missed cycles : 2).[0m ×2 + 12.40sWARNros2_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 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047493 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047493 ms (missed cycles : 3).[0m ×2 + 13.46sINFOobjective_server_nodeFound path in 0 iterations (2.96e-07 s). ×2 + 13.46sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.51sINFOros2_control_node[2026-08-11 19:20:49.045] [info] Received new action goal ×2 + 13.51sINFOros2_control_node[2026-08-11 19:20:49.045] [info] Accepted new action goal ×2 + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604007 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604007 ms (missed cycles : 3).[0m ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771168 ms (missed cycles : 3). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771168 ms (missed cycles : 3).[0m ×2 + 16.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239542 ms (missed cycles : 2). + 16.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.239542 ms (missed cycles : 2).[0m ×2 + 16.47sINFOobjective_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 + 16.47sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.47sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.47sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.47sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.47sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.47sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 17.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440707 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440707 ms (missed cycles : 2).[0m ×2 + 18.20sWARNros2_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 ×4 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800668 ms (missed cycles : 3). + 18.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800668 ms (missed cycles : 3).[0m ×2 + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854765 ms (missed cycles : 3). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854765 ms (missed cycles : 3).[0m ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399394 ms (missed cycles : 2). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399394 ms (missed cycles : 2).[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423098 ms (missed cycles : 2). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.423098 ms (missed cycles : 2).[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852292 ms (missed cycles : 5). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.852292 ms (missed cycles : 5).[0m ×2 + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180067 ms (missed cycles : 2). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180067 ms (missed cycles : 2).[0m ×2 + 23.99sINFOobjective_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 + 23.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.99sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 23.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.99sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 23.99sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 23.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 23.99sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 23.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.88sINFOros2_control_node[2026-08-11 19:21:00.417] [info] Received new action goal ×2 + 24.88sINFOros2_control_node[2026-08-11 19:21:00.417] [info] Accepted new action goal ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651796 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.651796 ms (missed cycles : 2).[0m ×2 + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884369 ms (missed cycles : 4). + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884369 ms (missed cycles : 4).[0m ×2 + 26.07sINFOobjective_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 + 26.08sINFOobjective_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 + 26.36sINFOobjective_server_nodeFound path in 0 iterations (4.27e-07 s). ×2 + 26.41sINFOros2_control_node[2026-08-11 19:21:01.943] [info] Received new action goal ×2 + 26.41sINFOros2_control_node[2026-08-11 19:21:01.943] [info] Accepted new action goal ×2 + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473294 ms (missed cycles : 4). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.473294 ms (missed cycles : 4).[0m ×2 + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566732 ms (missed cycles : 5). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.566732 ms (missed cycles : 5).[0m ×2 + 28.68sINFOobjective_server_nodeFound path in 0 iterations (2.74e-07 s). ×2 + 28.68sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.69sINFOros2_control_node[2026-08-11 19:21:04.230] [info] Received new action goal ×2 + 28.69sINFOros2_control_node[2026-08-11 19:21:04.230] [info] Accepted new action goal ×2 + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355950 ms (missed cycles : 5). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.355950 ms (missed cycles : 5).[0m ×2 + 30.14sWARNros2_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 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953045 ms (missed cycles : 2). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953045 ms (missed cycles : 2).[0m ×2 + 31.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.667347 ms (missed cycles : 6). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.667347 ms (missed cycles : 6).[0m ×2 + 31.73sINFOros2_control_node[2026-08-11 19:21:07.270] [info] Received new action goal ×2 + 31.73sINFOros2_control_node[2026-08-11 19:21:07.270] [info] Accepted new action goal ×2 + 32.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101459 ms (missed cycles : 5). + 32.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.101459 ms (missed cycles : 5).[0m ×2 + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633439 ms (missed cycles : 3). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633439 ms (missed cycles : 3).[0m ×2 + 34.32sINFOobjective_server_nodeFound path in 0 iterations (3.26e-07 s). ×2 + 34.33sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.38sINFOros2_control_node[2026-08-11 19:21:09.914] [info] Received new action goal ×2 + 34.38sINFOros2_control_node[2026-08-11 19:21:09.914] [info] Accepted new action goal ×2 + 34.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884196 ms (missed cycles : 4). + 34.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884196 ms (missed cycles : 4).[0m ×2 + 35.27sWARNros2_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 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542780 ms (missed cycles : 2). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542780 ms (missed cycles : 2).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778328 ms (missed cycles : 2). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778328 ms (missed cycles : 2).[0m ×2 + 38.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896749 ms (missed cycles : 5). + 38.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.896749 ms (missed cycles : 5).[0m ×2 + 39.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804578 ms (missed cycles : 3). + 39.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.804578 ms (missed cycles : 3).[0m ×2 + 39.60sINFOros2_control_nodeMuJoCo sim: 0.26% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391459 ms (missed cycles : 3). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391459 ms (missed cycles : 3).[0m ×2 + 41.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056659 ms (missed cycles : 5). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.056659 ms (missed cycles : 5).[0m ×2 + 41.36sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 42.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232011 ms (missed cycles : 2). + 42.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.232011 ms (missed cycles : 2).[0m ×2 + 43.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946561 ms (missed cycles : 3). + 43.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946561 ms (missed cycles : 3).[0m ×2 + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186051 ms (missed cycles : 2). + 44.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186051 ms (missed cycles : 2).[0m ×2 + 45.02sINFOros2_control_node[2026-08-11 19:21:20.561] [info] Received new action goal ×2 + 45.02sINFOros2_control_node[2026-08-11 19:21:20.561] [info] Accepted new action goal ×2 + 45.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147958 ms (missed cycles : 2). + 45.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147958 ms (missed cycles : 2).[0m ×2 + 46.18sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786476081.71665692 seconds ×3 + 46.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173837 ms (missed cycles : 5). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173837 ms (missed cycles : 5).[0m ×2 + 46.97sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786476082.50525403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518994 ms (missed cycles : 4). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518994 ms (missed cycles : 4).[0m ×2 + 48.13sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 48.15sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.16sINFOros2_control_node[2026-08-11 19:21:23.699] [info] Received new action goal ×2 + 48.16sINFOros2_control_node[2026-08-11 19:21:23.700] [info] Accepted new action goal ×2 + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389234 ms (missed cycles : 2). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389234 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 29.9s | 120 warnings · 2625 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×804 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×804 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786476159.96861005 seconds ×3 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×5 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786476160.59838343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.58sINFOobjective_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 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 5 iterations (0.00633456 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.78sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 ms (missed cycles : 2).[0m ×2 + 7.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073244 ms (missed cycles : 2). + 7.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073244 ms (missed cycles : 2).[0m ×2 + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942318 ms (missed cycles : 2). + 8.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942318 ms (missed cycles : 2).[0m ×2 + 8.57sWARNros2_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 ×4 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500571 ms (missed cycles : 2). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500571 ms (missed cycles : 2).[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917773 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.917773 ms (missed cycles : 3).[0m ×2 + 11.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219348 ms (missed cycles : 3). + 11.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219348 ms (missed cycles : 3).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123910 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123910 ms (missed cycles : 2).[0m ×2 + 13.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567831 ms (missed cycles : 3). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567831 ms (missed cycles : 3).[0m ×2 + 14.50sWARNros2_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 + 14.67sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142075 ms (missed cycles : 3). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.142075 ms (missed cycles : 3).[0m ×2 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540682 ms (missed cycles : 3). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.540682 ms (missed cycles : 3).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073382 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073382 ms (missed cycles : 4).[0m ×2 + 18.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898823 ms (missed cycles : 6). + 18.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.898823 ms (missed cycles : 6).[0m ×2 + 18.99sINFOobjective_server_nodeFound path in 4 iterations (0.00377584 s). ×2 + 19.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 19.11sINFOobjective_server_nodeFound path in 12 iterations (0.00554602 s). ×2 + 19.18sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 19.21sINFOobjective_server_nodeFound path in 1 iterations (0.00300687 s). ×2 + 19.27sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 19.29sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 19.32sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635160 ms (missed cycles : 2). + 19.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635160 ms (missed cycles : 2).[0m ×2 + 19.35sINFOobjective_server_nodeFound path in 0 iterations (4.38e-07 s). ×2 + 19.39sINFOobjective_server_nodePath shortcutter: [X______________________________________X] ×2 + 19.41sINFOobjective_server_nodeFound path in 8 iterations (0.00366863 s). ×2 + 19.47sINFOobjective_server_nodePath shortcutter: [X___________________________________X__________________________X] ×2 + 19.50sINFOobjective_server_nodeFound path in 1 iterations (0.00414364 s). ×2 + 19.55sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 19.57sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 19.62sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 19.65sINFOobjective_server_nodeFound path in 0 iterations (8.28e-07 s). ×2 + 19.71sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 19.75sINFOobjective_server_nodeFound path in 4 iterations (0.00777543 s). ×2 + 19.88sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 19.92sINFOobjective_server_nodeFound path in 4 iterations (0.00497953 s). ×2 + 20.06sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 20.10sINFOobjective_server_nodeFound path in 1 iterations (0.00806701 s). ×2 + 20.19sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 20.23sINFOobjective_server_nodeFound path in 0 iterations (2.56e-07 s). ×2 + 20.36sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X] ×2 + 20.41sINFOobjective_server_nodeFound path in 1 iterations (0.00465706 s). ×2 + 20.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888623 ms (missed cycles : 2). + 20.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888623 ms (missed cycles : 2).[0m ×2 + 20.52sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 20.56sINFOobjective_server_nodeFound path in 0 iterations (2.97e-07 s). ×2 + 20.63sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 20.66sINFOobjective_server_nodeFound path in 0 iterations (2.67e-07 s). ×2 + 20.84sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.45 s); wrist_camera (1.45 s). The render path has stopped producing new frames for them.[0m ×2 + 20.84sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________X] ×2 + 21.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.05sINFOros2_control_node[2026-08-11 19:22:57.137] [info] Received new action goal ×2 + 21.05sINFOros2_control_node[2026-08-11 19:22:57.137] [info] Accepted new action goal ×2 + 21.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736411 ms (missed cycles : 2). + 21.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736411 ms (missed cycles : 2).[0m ×2 + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.481510 ms (missed cycles : 7). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.481510 ms (missed cycles : 7).[0m ×2 + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738148 ms (missed cycles : 3). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738148 ms (missed cycles : 3).[0m ×2 + 24.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865170 ms (missed cycles : 2). + 24.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.865170 ms (missed cycles : 2).[0m ×2 + 25.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470686 ms (missed cycles : 2). + 25.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.470686 ms (missed cycles : 2).[0m ×2 + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752221 ms (missed cycles : 2). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752221 ms (missed cycles : 2).[0m ×2 + 27.16sINFOros2_control_node[2026-08-11 19:23:03.251] [info] Received new action goal ×2 + 27.16sINFOros2_control_node[2026-08-11 19:23:03.251] [info] Accepted new action goal ×2 + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129487 ms (missed cycles : 5). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.129487 ms (missed cycles : 5).[0m ×2 + 28.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 28.51sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.53sINFOros2_control_node[2026-08-11 19:23:04.612] [info] Received new action goal ×2 + 28.53sINFOros2_control_node[2026-08-11 19:23:04.612] [info] Accepted new action goal ×2 + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557807 ms (missed cycles : 4). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557807 ms (missed cycles : 4).[0m ×2 + 29.56sWARNobjective_server_nodePlan up-over-down Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 29.56sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.60sINFOros2_control_node[2026-08-11 19:23:05.683] [info] Received new action goal ×2 + 29.60sINFOros2_control_node[2026-08-11 19:23:05.683] [info] Accepted new action goal ×2 + 30.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207672 ms (missed cycles : 3). + 30.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207672 ms (missed cycles : 3).[0m ×2 + 31.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3). + 31.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3).[0m ×2 + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2). + 32.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2).[0m ×2 + 32.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2).[0m ×2 + 33.81sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786476189.89858460 seconds ×3 + 33.85sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.85sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 33.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 33.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 34.49sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786476190.58142042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2). + 34.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2).[0m ×2 + 34.68sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 34.68sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 34.69sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Received new action goal ×2 + 34.69sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Accepted new action goal ×2 + 35.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2). + 35.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2).[0m ×2 + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5). + 36.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 22.1s | 89 warnings · 13672 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2252 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×2252 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4504 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×4504 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053010 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.053010 ms (missed cycles : 4).[0m ×2 + 1.18sINFOros2_control_nodeMuJoCo sim: 0.25% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536284 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.536284 ms (missed cycles : 2).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.200904 ms (missed cycles : 8). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.200904 ms (missed cycles : 8).[0m ×2 + 3.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×6 + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.999446 ms (missed cycles : 5). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.999446 ms (missed cycles : 5).[0m ×2 + 3.87sINFOjoint_trajectory_controllerGot request to cancel goal ×4 + 3.87sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. ×2 + 3.87sINFOros2_control_nodeGot request to cancel goal[0m ×8 + 3.87sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786476137.83351135 seconds ×3 + 3.87sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×4 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×7 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 3.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 3.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×2 + 3.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×4 + 4.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786476138.47032619 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (2.71e-07 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.68sINFOros2_control_node[2026-08-11 19:22:18.644] [info] Received new action goal ×2 + 4.68sINFOros2_control_node[2026-08-11 19:22:18.644] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268579 ms (missed cycles : 2). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268579 ms (missed cycles : 2).[0m ×2 + 5.94sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393727 ms (missed cycles : 6). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.393727 ms (missed cycles : 6).[0m ×2 + 5.99sINFOobjective_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 + 6.00sINFOobjective_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 ×3 + 6.01sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 6.01sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.01sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 6.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.01sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669130 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669130 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873900 ms (missed cycles : 2). + 7.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873900 ms (missed cycles : 2).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831460 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831460 ms (missed cycles : 2).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915501 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915501 ms (missed cycles : 2).[0m ×2 + 11.16sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.51 s); wrist_camera (1.51 s). The render path has stopped producing new frames for them.[0m ×2 + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702741 ms (missed cycles : 2). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702741 ms (missed cycles : 2).[0m ×2 + 12.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946653 ms (missed cycles : 2). + 12.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946653 ms (missed cycles : 2).[0m ×2 + 13.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576657 ms (missed cycles : 2). + 13.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576657 ms (missed cycles : 2).[0m ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152277 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152277 ms (missed cycles : 2).[0m ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997430 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997430 ms (missed cycles : 2).[0m ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026834 ms (missed cycles : 2). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026834 ms (missed cycles : 2).[0m ×2 + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845013 ms (missed cycles : 2). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.845013 ms (missed cycles : 2).[0m ×2 + 18.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996814 ms (missed cycles : 2). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.996814 ms (missed cycles : 2).[0m ×2 + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098071 ms (missed cycles : 4). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098071 ms (missed cycles : 4).[0m ×2 + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159426 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.159426 ms (missed cycles : 2).[0m ×2 + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736934 ms (missed cycles : 2). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736934 ms (missed cycles : 2).[0m ×2 + 22.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4). + 22.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4).[0m ×2 + 23.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2). + 23.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2).[0m ×2 + 24.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2). + 24.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2).[0m ×2 + 26.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2). + 26.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2).[0m ×2 + 26.01sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786476159.96861005 seconds ×3 + 26.64sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786476160.59838343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 26.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 26.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 26.82sINFOobjective_server_nodeFound path in 5 iterations (0.00633456 s). ×2 + 26.89sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 26.91sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Received new action goal ×2 + 26.91sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Accepted new action goal ×2 + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6). + 27.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6).[0m ×2 + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 ms (missed cycles : 2). + 28.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 15.1s | 3 errors · 74 warnings · 207 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.90sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1786475963.62719846 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025746 ms (missed cycles : 5). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.025746 ms (missed cycles : 5).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125211 ms (missed cycles : 5). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.125211 ms (missed cycles : 5).[0m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102077 ms (missed cycles : 2). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102077 ms (missed cycles : 2).[0m ×2 + 9.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.420931 ms (missed cycles : 7). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.420931 ms (missed cycles : 7).[0m ×2 + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794913 ms (missed cycles : 3). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794913 ms (missed cycles : 3).[0m ×2 + 12.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.11sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 12.40sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 12.41sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 12.42sINFOobjective_server_nodeFound path in 0 iterations (2.46e-07 s). ×2 + 12.44sINFOobjective_server_nodeFound path in 0 iterations (3.95e-07 s). ×2 + 12.48sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 12.51sINFOobjective_server_nodeFound path in 1 iterations (0.00369038 s). ×2 + 12.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 12.68sINFOros2_control_node[2026-08-11 19:19:33.793] [info] Received new action goal ×2 + 12.68sINFOros2_control_node[2026-08-11 19:19:33.793] [info] Accepted new action goal ×2 + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963850 ms (missed cycles : 5). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.963850 ms (missed cycles : 5).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.764100 ms (missed cycles : 5). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.764100 ms (missed cycles : 5).[0m ×2 + 14.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201166 ms (missed cycles : 4). + 14.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201166 ms (missed cycles : 4).[0m ×2 + 15.16sINFOros2_control_node[2026-08-11 19:19:36.266] [info] Received new action goal ×2 + 15.16sINFOros2_control_node[2026-08-11 19:19:36.266] [info] Accepted new action goal ×2 + 15.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 15.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3). + 15.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3).[0m ×2 + 16.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3). + 16.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3).[0m ×2 + 17.06sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 17.06sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 17.07sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Received new action goal ×2 + 17.07sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Accepted new action goal ×2 + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2).[0m ×2 + 18.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786475979.56529427 seconds ×3 + 19.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6). + 19.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6).[0m ×2 + 19.08sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786475980.18908024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.16sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786475980.26920176 seconds ×3 + 19.78sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786475980.89513516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.90sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 19.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 19.91sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Received new action goal ×2 + 19.91sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Accepted new action goal ×2 + 20.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2). + 20.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2).[0m ×2 + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5).[0m ×2 + 21.62sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 12.0s | 3 errors · 60 warnings · 181 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802800 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802800 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.80sINFOobjective_server_nodeFound path in 1 iterations (0.00493124 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.99sINFOros2_control_node[2026-08-11 19:20:10.974] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-11 19:20:10.974] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785429 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785429 ms (missed cycles : 2).[0m ×2 + 1.42sINFOros2_control_node[2026-08-11 19:20:11.406] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-11 19:20:11.406] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445160 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445160 ms (missed cycles : 5).[0m ×2 + 2.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×4 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879592 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879592 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.23sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sERRORobjective_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: 1786476013.25205660 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.28sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.06sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786476014.04455686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.24sINFOros2_control_node[2026-08-11 19:20:14.228] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-11 19:20:14.228] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715220 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715220 ms (missed cycles : 5).[0m ×2 + 5.16sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489113 ms (missed cycles : 6). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489113 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076487 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076487 ms (missed cycles : 2).[0m ×2 + 6.74sINFOros2_control_node[2026-08-11 19:20:16.729] [info] Received new action goal ×2 + 6.74sINFOros2_control_node[2026-08-11 19:20:16.729] [info] Accepted new action goal ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016252 ms (missed cycles : 5). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.016252 ms (missed cycles : 5).[0m ×2 + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105136 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105136 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349570 ms (missed cycles : 5). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.349570 ms (missed cycles : 5).[0m ×2 + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618604 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618604 ms (missed cycles : 2).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118082 ms (missed cycles : 2). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118082 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2).[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4).[0m ×2 + 14.85sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 15.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3). + 15.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3).[0m ×2 + 15.31sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786476025.29989767 seconds ×3 + 15.98sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786476025.96422458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.01sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 16.01sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 16.02sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 16.03sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 16.04sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786476026.02435398 seconds ×3 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2).[0m ×2 + 16.63sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786476026.61974955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.75sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 16.76sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.77sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Received new action goal ×2 + 16.77sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Accepted new action goal ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3).[0m ×2 + 18.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2). + 18.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 61 errors · 42 warnings · 319 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3).[0m ×2 + 0.51sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.52sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Got request to cancel active goal. ×2 + 0.52sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Canceling active goal... ×2 + 0.52sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476245.62331057 seconds ×3 + 0.54sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.54sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 0.54sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.54sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.54sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 0.54sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.55sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.55sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.55sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.55sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4).[0m ×2 + 1.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476246.22880983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476246.92894077 seconds ×3 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5).[0m ×2 + 2.42sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786476247.52037883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.42sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.42sINFOobjective_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 + 2.42sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.42sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786476247.52245855 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786476248.24324489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786476248.24376798 seconds ×3 + 3.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476248.83998013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2).[0m ×2 + 4.58sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×4 + 4.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786476249.99011111 seconds ×3 + 4.93sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168523 ms (missed cycles : 5). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168523 ms (missed cycles : 5).[0m ×2 + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419200 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419200 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968879 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968879 ms (missed cycles : 2).[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609584 ms (missed cycles : 4). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609584 ms (missed cycles : 4).[0m ×2 + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680918 ms (missed cycles : 5). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.680918 ms (missed cycles : 5).[0m ×2 + 10.05sINFOros2_control_nodeMuJoCo sim: 0.28% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.578723 ms (missed cycles : 6). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.578723 ms (missed cycles : 6).[0m ×2 + 10.90sERRORweb_video_auth_proxy-23process[web_video_auth_proxy-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORweb_bridge_auth_proxy-22process[web_bridge_auth_proxy-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORvideo_server-21process[video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORweb_bridge-19process[web_bridge-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORui_teleop_bridge-18process[ui_teleop_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORexecute_objective_bridge-17process[execute_objective_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sINFOweb_video_auth_proxy-23sending signal 'SIGTERM' to process[web_video_auth_proxy-23] ×2 + 10.93sERRORcomponent_container_mt-16process[component_container_mt-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sERRORweb_video_auth_proxy-23process has died [pid 9088, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 10.93sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.94sINFOweb_bridge_auth_proxy-22sending signal 'SIGTERM' to process[web_bridge_auth_proxy-22] ×2 + 10.95sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORweb_bridge_auth_proxy-22process has died [pid 9087, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 10.95sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOvideo_server-21sending signal 'SIGTERM' to process[video_server-21] ×2 + 10.97sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.99sINFOweb_bridge-19sending signal 'SIGTERM' to process[web_bridge-19] ×2 + 11.00sINFOui_teleop_bridge-18sending signal 'SIGTERM' to process[ui_teleop_bridge-18] ×2 + 11.01sINFOexecute_objective_bridge-17sending signal 'SIGTERM' to process[execute_objective_bridge-17] ×2 + 11.02sINFOvideo_server-21process has finished cleanly [pid 9086] ×2 + 11.02sINFOcomponent_container_mt-16sending signal 'SIGTERM' to process[component_container_mt-16] ×2 + 11.04sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 11.05sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 11.07sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 11.07sINFOlaunchprocess[web_bridge_auth_proxy-22] was required: shutting down launched system ×2 + 11.08sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 11.09sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 11.11sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 11.12sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 11.14sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 11.14sINFOcontroller_managerShutdown request received.... + 11.14sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.14sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.14sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.15sINFOvideo_server2026/08/11 19:24:16 INF shutting down gracefully ×2 + 11.15sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.15sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.15sINFOvideo_server2026/08/11 19:24:16 INF [WebRTC] closing ×2 + 11.15sINFOvideo_server2026/08/11 19:24:16 INF [RTSP] closing ×2 + 11.15sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.15sINFOvideo_server2026/08/11 19:24:16 INF waiting for running hooks ×2 + 11.15sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.15sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 11.15sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 11.15sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.15sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 11.15sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 11.15sINFOcontroller_managerShutting down the controller manager. + 11.15sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.15sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.15sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.15sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.15sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.15sERRORmove_groupStack trace (most recent call last) in thread 9328: ×2 + 11.15sWARNparameter_manager_nodeROS node was shutdown. ×2 + 11.15sERRORmove_group-9process has died [pid 9011, 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_x0lz2v8t --params-file /tmp/launch_params_7l4ewpux --params-file /tmp/launch_params_3y3mjge4 --params-file /tmp/launch_params_zth_fqqg --params-file /tmp/launch_params_z6o7e71j --params-file /tmp/launch_params_zrkqd4mo']. ×2 + 11.15sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.15sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd898a7ea63, in __clone ×2 + 11.15sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8989f1aa3, in ×2 + 11.15sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd898c83db3, in ×2 + 11.15sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fd8993f4637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.15sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd899015620, in rclcpp::Rate::sleep() ×2 + 11.15sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd898f57d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.15sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fd898f19087, in ×2 + 11.15sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd898c52390, in __cxa_throw ×2 + 11.15sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd898c3ca54, in std::terminate() ×2 + 11.15sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd898c520d9, in ×2 + 11.16sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fd898c3cff4, in ×2 + 11.16sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd89897d8fe, in abort ×2 + 11.16sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd89899a27d, in raise ×2 + 11.16sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fd8989f3b2c, in pthread_kill ×2 + 11.16sERRORmove_groupAborted (Signal sent by tkill() 9011 0) ×2 + 11.16sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.16sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.16sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.16sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 11.16sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 11.16sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.16sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.16sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.16sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.16sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.16sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.36sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.36sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 12.04sINFOtf2_web_republisher_node-20process has finished cleanly [pid 9085] ×2 + 12.04sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 12.11sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9015] ×2 + 12.11sINFOui_teleop_bridge-18process has finished cleanly [pid 9020] ×2 + 12.12sINFOexecute_objective_bridge-17process has finished cleanly [pid 9019] ×2 + 12.12sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9014] ×2 + 12.13sINFOcomponent_container_mt-16process has finished cleanly [pid 9018] ×2 + 12.17sINFOwaypoint_manager_node-11process has finished cleanly [pid 9013] ×2 + 12.19sINFOparameter_manager_node-10process has finished cleanly [pid 9012] ×2 + 12.20sINFOobjective_server_nodeDropped 4 pooled inference model entry(s) at shutdown. ×2 + 12.26sINFOobjective_server_node[0;m[2026-08-11 19:24:17.363] [moveit_pro_license] [critical] ×2 + 12.26sINFOobjective_server_node************************************************* ×4 + 12.26sINFOobjective_server_node* MoveIt Pro License ×2 + 12.26sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.78sINFOobjective_server_node_main-14process has finished cleanly [pid 9016] ×2 + 12.78sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 13.08sINFOweb_bridge-19process has finished cleanly [pid 9021] ×2 + 13.08sINFOlaunchprocess[web_bridge-19] was required: shutting down launched system ×2 + 13.24sINFOcomponent_container_mt-15process has finished cleanly [pid 9017] ×2 + 13.79sINFOros2_control_node-1process has finished cleanly [pid 8974] ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.6s | 60 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946561 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946561 ms (missed cycles : 3).[0m ×2 + 0.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.78sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.78sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.78sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.78sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186051 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.186051 ms (missed cycles : 2).[0m ×2 + 1.65sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.66sINFOros2_control_node[2026-08-11 19:21:20.561] [info] Received new action goal ×2 + 1.66sINFOros2_control_node[2026-08-11 19:21:20.561] [info] Accepted new action goal ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147958 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147958 ms (missed cycles : 2).[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1786476081.71665692 seconds ×3 + 2.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.88sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.88sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.88sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.89sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173837 ms (missed cycles : 5). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173837 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Push Button` starting at time: 1786476082.50525403 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sWARNros2_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 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518994 ms (missed cycles : 4). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.518994 ms (missed cycles : 4).[0m ×2 + 4.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.78sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.80sINFOros2_control_node[2026-08-11 19:21:23.699] [info] Received new action goal ×2 + 4.80sINFOros2_control_node[2026-08-11 19:21:23.700] [info] Accepted new action goal ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389234 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389234 ms (missed cycles : 2).[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.116046 ms (missed cycles : 5). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.116046 ms (missed cycles : 5).[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727951 ms (missed cycles : 3). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727951 ms (missed cycles : 3).[0m ×2 + 8.50sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.50sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.50sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.50sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.50sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.50sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.50sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.51sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.51sINFOros2_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 5.335291 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335291 ms (missed cycles : 4).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821863 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821863 ms (missed cycles : 2).[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604177 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604177 ms (missed cycles : 3).[0m ×2 + 10.90sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.92sINFOros2_control_node[2026-08-11 19:21:29.819] [info] Received new action goal ×2 + 10.92sINFOros2_control_node[2026-08-11 19:21:29.819] [info] Accepted new action goal ×2 + 11.68sWARNros2_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 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844941 ms (missed cycles : 3). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844941 ms (missed cycles : 3).[0m ×2 + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344825 ms (missed cycles : 3). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344825 ms (missed cycles : 3).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704180 ms (missed cycles : 5). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704180 ms (missed cycles : 5).[0m ×2 + 14.52sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786476093.42544436 seconds ×3 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168480 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168480 ms (missed cycles : 3).[0m ×2 + 15.12sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786476094.02366376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.29sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 15.29sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.30sINFOros2_control_node[2026-08-11 19:21:34.197] [info] Received new action goal ×2 + 15.30sINFOros2_control_node[2026-08-11 19:21:34.197] [info] Accepted new action goal ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192830 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192830 ms (missed cycles : 2).[0m ×2 + 16.56sINFOobjective_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 + 16.57sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.03sWARNros2_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 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815761 ms (missed cycles : 2). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815761 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.1s | 9 errors · 60 warnings · 170 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443315 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443315 ms (missed cycles : 4).[0m ×2 + 0.09sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 0.37sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 0.37sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 0.37sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 0.40sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786475999.79238439 seconds ×3 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054026 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054026 ms (missed cycles : 3).[0m ×2 + 1.42sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931255 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931255 ms (missed cycles : 2).[0m ×2 + 2.72sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.72sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.72sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.72sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.72sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336678 ms (missed cycles : 3). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336678 ms (missed cycles : 3).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786476002.73854804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.35sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.55sINFOros2_control_node[2026-08-11 19:20:02.942] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-08-11 19:20:02.942] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147285 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147285 ms (missed cycles : 2).[0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123124 ms (missed cycles : 3). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123124 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619892 ms (missed cycles : 5). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.619892 ms (missed cycles : 5).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018370 ms (missed cycles : 4). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.018370 ms (missed cycles : 4).[0m ×2 + 7.48sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 7.52sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 7.52sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 7.82sINFOobjective_server_nodeFound path in 0 iterations (3.36e-07 s). ×2 + 7.82sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 7.83sINFOobjective_server_nodeFound path in 0 iterations (4.11e-07 s). ×2 + 7.84sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 7.85sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 7.89sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 7.90sINFOobjective_server_nodeFound path in 0 iterations (5.23e-07 s). ×2 + 7.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 7.97sINFOobjective_server_nodeFound path in 1 iterations (0.00309654 s). ×2 + 8.07sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 8.10sINFOobjective_server_nodeFound path in 1 iterations (0.00751572 s). ×2 + 8.19sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 8.21sINFOobjective_server_nodeFound path in 0 iterations (3.64e-07 s). ×2 + 8.33sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 8.46sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131451 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131451 ms (missed cycles : 2).[0m ×2 + 8.59sINFOros2_control_node[2026-08-11 19:20:07.986] [info] Received new action goal ×2 + 8.59sINFOros2_control_node[2026-08-11 19:20:07.986] [info] Accepted new action goal ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289574 ms (missed cycles : 3). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289574 ms (missed cycles : 3).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802800 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802800 ms (missed cycles : 3).[0m ×2 + 11.28sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 11.28sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 11.29sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 11.29sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 11.30sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 11.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 11.39sINFOobjective_server_nodeFound path in 1 iterations (0.00493124 s). ×2 + 11.51sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 11.58sINFOros2_control_node[2026-08-11 19:20:10.974] [info] Received new action goal ×2 + 11.58sINFOros2_control_node[2026-08-11 19:20:10.974] [info] Accepted new action goal ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785429 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785429 ms (missed cycles : 2).[0m ×2 + 12.01sINFOros2_control_node[2026-08-11 19:20:11.406] [info] Received new action goal ×2 + 12.01sINFOros2_control_node[2026-08-11 19:20:11.406] [info] Accepted new action goal ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445160 ms (missed cycles : 5). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445160 ms (missed cycles : 5).[0m ×2 + 13.49sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879592 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879592 ms (missed cycles : 2).[0m ×2 + 13.81sINFOobjective_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 + 13.82sINFOrobotiq_gripper_controllerGot request to cancel goal + 13.82sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 13.82sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.82sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.85sERRORobjective_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: 1786476013.25205660 seconds ×3 + 14.65sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786476014.04455686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.82sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 14.83sINFOros2_control_node[2026-08-11 19:20:14.228] [info] Received new action goal ×2 + 14.83sINFOros2_control_node[2026-08-11 19:20:14.228] [info] Accepted new action goal ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715220 ms (missed cycles : 5). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715220 ms (missed cycles : 5).[0m ×2 + 15.74sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489113 ms (missed cycles : 6). + 15.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489113 ms (missed cycles : 6).[0m ×2 + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076487 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076487 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.1s | 6 errors · 60 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×16 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×8 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×16 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382644 ms (missed cycles : 5). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.382644 ms (missed cycles : 5).[0m ×2 + 6.64sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 7.46sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.46sINFOros2_control_node[2026-08-11 19:23:58.682] [info] Received new action goal ×2 + 7.46sINFOros2_control_node[2026-08-11 19:23:58.682] [info] Accepted new action goal ×2 + 7.46sINFOros2_control_node[2026-08-11 19:23:58.682] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378759 ms (missed cycles : 4). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.378759 ms (missed cycles : 4).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574388 ms (missed cycles : 5). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574388 ms (missed cycles : 5).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052702 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052702 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2).[0m ×2 + 11.66sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2).[0m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3).[0m ×2 + 14.40sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Got request to cancel active goal. ×2 + 14.40sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Canceling active goal... ×2 + 14.40sERRORobjective_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: 1786476245.62331057 seconds ×3 + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4).[0m ×2 + 15.01sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476246.22880983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476246.92894077 seconds ×3 + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5).[0m ×2 + 16.30sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786476247.52037883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.30sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.30sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.30sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.30sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786476247.52245855 seconds ×3 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2).[0m ×2 + 17.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786476248.24324489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.02sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786476248.24376798 seconds ×3 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 60 warnings · 176 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985644 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985644 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990230 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990230 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265412 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265412 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773780 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773780 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786476222.13647389 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×10 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×20 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×5 + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×10 + 4.21sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786476222.74658728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603563 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603563 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.35sINFOros2_control_node[2026-08-11 19:23:42.880] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-08-11 19:23:42.880] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788972 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788972 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308715 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308715 ms (missed cycles : 5).[0m ×2 + 7.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766049 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766049 ms (missed cycles : 2).[0m ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692103 ms (missed cycles : 5). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.692103 ms (missed cycles : 5).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552128 ms (missed cycles : 3). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552128 ms (missed cycles : 3).[0m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807028 ms (missed cycles : 2). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807028 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5). + 11.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5).[0m ×2 + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 13.13sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 14.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.59sERRORobjective_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: 1786476233.11684465 seconds ×3 + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 15.29sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.37sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 15.96sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.99sINFOobjective_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 + 15.99sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 16.70sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.80sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 16.80sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.82sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 16.82sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 9 errors · 60 warnings · 150 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×4 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 + 7.24sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136245 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136245 ms (missed cycles : 2).[0m ×2 + 8.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.50sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.51sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272871 ms (missed cycles : 4). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272871 ms (missed cycles : 4).[0m ×2 + 8.78sINFOobjective_server_nodeFound path in 0 iterations (7.69e-07 s). ×2 + 8.78sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 8.80sINFOobjective_server_nodeFound path in 0 iterations (4.44e-07 s). ×2 + 8.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.86sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 8.93sINFOobjective_server_nodeFound path in 1 iterations (0.00405187 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 9.06sINFOobjective_server_nodeFound path in 1 iterations (0.00431859 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_________________________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (4.58e-07 s). ×2 + 9.28sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 9.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 9.53sINFOros2_control_node[2026-08-11 19:19:57.064] [info] Received new action goal ×2 + 9.53sINFOros2_control_node[2026-08-11 19:19:57.064] [info] Accepted new action goal ×2 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110090 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110090 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.095470 ms (missed cycles : 5). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.095470 ms (missed cycles : 5).[0m ×2 + 11.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443315 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.443315 ms (missed cycles : 4).[0m ×2 + 11.96sINFOparameter_manager_nodeRetrieving pose from parameter manager. ×3 + 12.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal. + 12.23sWARNui_teleop_bridgeRejecting /do_teleoperate goal: no UI tab is subscribed to /moveit_pro_ui/do_teleoperate/goal.[0m ×2 + 12.24sERRORobjective_server_nodeDoTeleoperateAction Error: Failed to send goal request to action server: Goal request was rejected by the action server ×3 + 12.26sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` did not succeed at time: 1786475999.79238439 seconds ×3 + 12.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054026 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054026 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931255 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931255 ms (missed cycles : 2).[0m ×2 + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336678 ms (missed cycles : 3). + 15.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336678 ms (missed cycles : 3).[0m ×2 + 15.21sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1786476002.73854804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.41sINFOros2_control_node[2026-08-11 19:20:02.942] [info] Received new action goal ×2 + 15.41sINFOros2_control_node[2026-08-11 19:20:02.942] [info] Accepted new action goal ×2 + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147285 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147285 ms (missed cycles : 2).[0m ×2 + 17.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123124 ms (missed cycles : 3). + 17.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123124 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 63 warnings · 105 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×6 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548792 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.548792 ms (missed cycles : 5).[0m ×2 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483248 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.483248 ms (missed cycles : 2).[0m ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892857 ms (missed cycles : 4). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892857 ms (missed cycles : 4).[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786316 ms (missed cycles : 2). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786316 ms (missed cycles : 2).[0m ×2 + 10.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643552 ms (missed cycles : 5). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643552 ms (missed cycles : 5).[0m ×2 + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595227 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595227 ms (missed cycles : 2).[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053724 ms (missed cycles : 2). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053724 ms (missed cycles : 2).[0m ×2 + 14.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476211.61680031 seconds ×3 + 14.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698685 ms (missed cycles : 2). + 14.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698685 ms (missed cycles : 2).[0m ×2 + 15.19sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786476212.23401022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.48sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 15.49sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.50sINFOros2_control_node[2026-08-11 19:23:32.543] [info] Received new action goal ×2 + 15.50sINFOros2_control_node[2026-08-11 19:23:32.543] [info] Accepted new action goal ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132802 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132802 ms (missed cycles : 2).[0m ×2 + 16.60sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557863 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557863 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 59 warnings · 332 info |
+ 0.00sWARNros2_control_nodeCamera render tick took 1.86 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 + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 0.45sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 0.49sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.49sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.49sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.49sINFOcontroller_managerSuccessfully switched controllers! ×17 + 0.49sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.49sINFOros2_control_nodeSuccessfully switched controllers![0m ×34 + 0.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 0.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 0.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.08sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 1.08sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 1.13sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 2.51sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 3.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.35sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.35sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.99sINFOobjective_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 + 3.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.99sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.99sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.11sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.11sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 5.78sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053611 ms (missed cycles : 5). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053611 ms (missed cycles : 5).[0m ×2 + 6.60sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 6.61sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.62sINFOros2_control_node[2026-08-11 19:19:15.984] [info] Received new action goal ×2 + 6.62sINFOros2_control_node[2026-08-11 19:19:15.984] [info] Accepted new action goal ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105414 ms (missed cycles : 3). + 7.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105414 ms (missed cycles : 3).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.401397 ms (missed cycles : 6). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.401397 ms (missed cycles : 6).[0m ×2 + 8.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617630 ms (missed cycles : 3). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.617630 ms (missed cycles : 3).[0m ×2 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 10.31sINFOros2_control_node[2026-08-11 19:19:19.674] [info] Received new action goal ×2 + 10.31sINFOros2_control_node[2026-08-11 19:19:19.674] [info] Accepted new action goal ×2 + 10.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595741 ms (missed cycles : 2). + 10.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595741 ms (missed cycles : 2).[0m ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 13.63sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 13.63sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.65sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 13.65sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 14.25sINFOobjective_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 + 14.25sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 14.25sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 14.26sERRORobjective_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: 1786475963.62719846 seconds ×3 + 14.27sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.27sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 14.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 14.65sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 14.93sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 15.05sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 15.65sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.84sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 15.84sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.87sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 15.87sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.8s | 3 errors · 60 warnings · 165 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3).[0m ×2 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3).[0m ×2 + 1.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Received new action goal ×2 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786475979.56529427 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×6 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786475980.18908024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786475980.26920176 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786475980.89513516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2).[0m ×2 + 7.59sINFOobjective_server_nodeFound path in 0 iterations (3.79e-07 s). ×2 + 7.59sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 7.60sINFOros2_control_node[2026-08-11 19:19:44.369] [info] Received new action goal ×2 + 7.60sINFOros2_control_node[2026-08-11 19:19:44.369] [info] Accepted new action goal ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989499 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989499 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863888 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863888 ms (missed cycles : 2).[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525045 ms (missed cycles : 5). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.525045 ms (missed cycles : 5).[0m ×2 + 9.93sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 9.94sINFOros2_control_node[2026-08-11 19:19:46.706] [info] Received new action goal ×2 + 9.94sINFOros2_control_node[2026-08-11 19:19:46.706] [info] Accepted new action goal ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 11.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 11.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 12.28sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 12.29sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 12.29sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 13.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 13.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 14.34sINFOobjective_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 + 14.34sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 14.34sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 14.36sERRORobjective_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: 1786475991.12819123 seconds ×3 + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 14.99sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.18sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 15.19sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.20sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 15.20sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 17.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 10.7s | 3 errors · 63 warnings · 145 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207672 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207672 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786476189.89858460 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786476190.58142042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5).[0m ×2 + 7.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126914 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126914 ms (missed cycles : 2).[0m ×2 + 8.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 8.36sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 8.36sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 8.64sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 8.65sINFOobjective_server_nodeFound path in 0 iterations (3.92e-07 s). ×2 + 8.65sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 8.66sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518270 ms (missed cycles : 4). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.518270 ms (missed cycles : 4).[0m ×2 + 8.70sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 8.73sINFOobjective_server_nodeFound path in 1 iterations (0.00314314 s). ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 8.90sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 8.91sINFOros2_control_nodeMuJoCo sim: 0.27% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 8.93sINFOros2_control_node[2026-08-11 19:23:15.159] [info] Received new action goal ×2 + 8.93sINFOros2_control_node[2026-08-11 19:23:15.159] [info] Accepted new action goal ×2 + 9.54sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350497 ms (missed cycles : 2). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350497 ms (missed cycles : 2).[0m ×2 + 10.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 10.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 11.40sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 11.40sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 12.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 12.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 13.31sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 13.31sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 13.33sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 13.33sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 14.40sINFOobjective_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 + 14.40sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 14.40sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 14.42sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 15.09sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.24sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 15.24sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.25sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 15.25sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 15.70sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 17.16sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 55 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643552 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643552 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595227 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595227 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053724 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053724 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_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 + 3.03sERRORobjective_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: 1786476211.61680031 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698685 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698685 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786476212.23401022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.95sINFOros2_control_node[2026-08-11 19:23:32.543] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-11 19:23:32.543] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132802 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132802 ms (missed cycles : 2).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557863 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557863 ms (missed cycles : 3).[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237854 ms (missed cycles : 4). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.237854 ms (missed cycles : 4).[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414920 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.414920 ms (missed cycles : 3).[0m ×2 + 7.96sINFOros2_control_node[2026-08-11 19:23:36.551] [info] Received new action goal ×2 + 7.96sINFOros2_control_node[2026-08-11 19:23:36.551] [info] Accepted new action goal ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623576 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623576 ms (missed cycles : 3).[0m ×2 + 9.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985644 ms (missed cycles : 4). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985644 ms (missed cycles : 4).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990230 ms (missed cycles : 2). + 11.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990230 ms (missed cycles : 2).[0m ×2 + 11.07sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265412 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265412 ms (missed cycles : 2).[0m ×2 + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773780 ms (missed cycles : 5). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773780 ms (missed cycles : 5).[0m ×2 + 13.55sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786476222.13647389 seconds ×3 + 14.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786476222.74658728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603563 ms (missed cycles : 3). + 14.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603563 ms (missed cycles : 3).[0m ×2 + 14.28sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 14.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.29sINFOros2_control_node[2026-08-11 19:23:42.880] [info] Received new action goal ×2 + 14.29sINFOros2_control_node[2026-08-11 19:23:42.880] [info] Accepted new action goal ×2 + 15.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788972 ms (missed cycles : 2). + 15.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788972 ms (missed cycles : 2).[0m ×2 + 16.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 16.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308715 ms (missed cycles : 5). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308715 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 9.2s | 52 warnings · 179 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786476025.96422458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×8 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786476026.02435398 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786476026.61974955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786476028.75990963 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193874 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193874 ms (missed cycles : 5).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786476030.35501409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384159 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384159 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737680 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737680 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016281 ms (missed cycles : 4). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.016281 ms (missed cycles : 4).[0m ×2 + 8.26sINFOobjective_server_node[2026-08-11 19:20:34.219] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729873 ms (missed cycles : 3). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729873 ms (missed cycles : 3).[0m ×2 + 9.02sINFOobjective_server_node[0;93m2026-08-11 19:20:34.986509883 [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 + 9.02sINFOobjective_server_node[0;93m2026-08-11 19:20:34.986537057 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2).[0m ×2 + 10.04sINFOobjective_server_node[2026-08-11 19:20:35.999] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.53sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491707402 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.53sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491733872 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2).[0m ×2 + 10.69sINFOobjective_server_node[2026-08-11 19:20:36.651] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 10.74sINFOobjective_server_node[0;93m2026-08-11 19:20:36.701201802 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 10.74sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704183672 [W:onnxruntime:, session_state.cc:1327 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 10.74sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704207127 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.81sINFOobjective_server_node[2026-08-11 19:20:36.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 11.16sINFOobjective_server_node[0;93m2026-08-11 19:20:37.123738858 [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 + 11.18sINFOobjective_server_node[0;93m2026-08-11 19:20:37.147974352 [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 + 11.18sINFOobjective_server_node[0;93m2026-08-11 19:20:37.148010309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 11.63sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4).[0m ×2 + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2).[0m ×2 + 12.98sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786476038.94175386 seconds ×3 + 13.63sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786476039.59645343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 13.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 13.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 13.71sINFOobjective_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 + 13.72sINFOobjective_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 + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5).[0m ×2 + 14.00sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 14.00sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 14.05sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Received new action goal ×2 + 14.05sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Accepted new action goal ×2 + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2).[0m ×2 + 16.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 3.7s | 34 warnings · 128 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4).[0m ×2 + 1.88sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3).[0m ×2 + 2.35sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786476025.29989767 seconds ×3 + 2.35sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.35sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.36sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.36sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.36sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.36sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.36sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.36sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786476025.96422458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.05sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.07sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786476026.02435398 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786476026.61974955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.79sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 3.79sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.80sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Received new action goal ×2 + 3.80sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3).[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2).[0m ×2 + 5.81sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786476028.75990963 seconds ×3 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3).[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193874 ms (missed cycles : 5). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193874 ms (missed cycles : 5).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786476030.35501409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384159 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384159 ms (missed cycles : 2).[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737680 ms (missed cycles : 3). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737680 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.6s | 32 warnings · 527 info |
+ 0.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 0.14sINFOobjective_server_node[2026-08-11 19:19:04.925] [moveit_pro_license] [info] ×2 + 0.14sINFOobjective_server_node************************************************* ×4 + 0.14sINFOobjective_server_node* MoveIt Pro License ×2 + 0.14sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.31sINFOobjective_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 + 0.31sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.32sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.32sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.33sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.33sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.33sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 0.33sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.33sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.33sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.33sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.33sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.33sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.33sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.33sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.33sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.33sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.33sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.38sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.38sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.38sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.38sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.38sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.39sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.39sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.39sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 0.39sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 0.39sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.39sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.39sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.40sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.40sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.40sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.40sINFOcontroller_managerSuccessfully switched controllers! ×20 + 0.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×40 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492243 ms (missed cycles : 4). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492243 ms (missed cycles : 4).[0m ×2 + 0.41sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 0.41sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 0.60sINFOcomponent_container_mt[2026-08-11 19:19:05.383] [moveit_pro_license] [info] ×2 + 0.60sINFOcomponent_container_mt************************************************* ×4 + 0.60sINFOcomponent_container_mt* MoveIt Pro License ×2 + 0.60sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.71sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.71sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.71sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.71sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.72sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 0.72sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 0.75sINFOros2-3process has finished cleanly [pid 8976] ×2 + 0.84sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.84sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 0.91sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 0.92sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 0.92sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 0.92sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.92sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.93sINFOros2_control_node[2026-08-11 19:19:05.711] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-08-11 19:19:05.711] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.95sINFOros2_control_node[2026-08-11 19:19:05.737] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.95sINFOros2_control_node[2026-08-11 19:19:05.737] [info] Controller state will be published at 50 Hz. ×2 + 0.96sINFOros2_control_node[2026-08-11 19:19:05.742] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.28sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.28sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.28sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.28sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.28sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 1.28sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 1.28sWARNobjective_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 + 1.30sINFOros2-6process has finished cleanly [pid 8979] ×2 + 1.35sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 1.35sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 1.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.36sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 1.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.36sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 1.36sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.36sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.36sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.36sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 1.36sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.36sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 1.36sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 1.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 1.37sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 1.37sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283475 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283475 ms (missed cycles : 2).[0m ×2 + 1.68sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.68sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.68sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.68sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.72sINFOros2-5process has finished cleanly [pid 8978] ×2 + 1.75sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 1.75sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 1.80sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 1.80sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.81sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.83sINFOros2_control_node[2026-08-11 19:19:06.619] [info] Controller state will be published at 10 Hz. ×2 + 1.83sINFOros2_control_node[2026-08-11 19:19:06.620] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.16sINFOros2-7process has finished cleanly [pid 8980] ×2 + 2.16sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.16sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.16sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.16sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.23sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 2.23sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 2.27sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 2.27sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.30sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 2.30sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.59sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 2.62sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.62sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.62sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.62sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.62sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 2.62sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 2.64sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.67sINFOros2-8process has finished cleanly [pid 8981] ×2 + 2.68sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 2.68sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.68sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.68sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.68sINFOforce_torque_sensor_broadcasterconfigure successful + 2.68sINFOros2_control_nodeconfigure successful[0m ×2 + 2.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 2.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 2.69sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.69sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.69sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 2.69sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 2.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 2.99sINFOros2-2process has finished cleanly [pid 8975] ×2 + 3.02sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 3.02sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 3.02sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 3.02sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 3.02sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 3.02sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 3.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 3.07sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 3.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 3.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 3.07sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 3.07sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 3.08sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 3.08sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 3.08sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 3.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 3.42sINFOros2-4process has finished cleanly [pid 8977] ×2 + 3.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 3.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.58sWARNros2_control_nodeCamera render tick took 1.86 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 + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 5.65sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.71sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 6.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 7.09sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 7.91sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 7.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 7.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 7.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 7.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 7.95sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 8.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 3 errors · 31 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.67sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Got request to cancel active goal. ×2 + 3.67sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1786476245.62331057 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476246.22880983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476246.92894077 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786476247.52037883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.57sINFOobjective_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 + 5.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786476247.52245855 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786476248.24324489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786476248.24376798 seconds ×3 + 6.89sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476248.83998013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2). + 7.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2).[0m ×2 + 7.73sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.8s | 3 errors · 26 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595741 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.96sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 3.57sERRORobjective_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: 1786475963.62719846 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.17sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 26 warnings · 100 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118082 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4).[0m ×2 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786476025.29989767 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786476025.96422458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786476026.02435398 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786476026.61974955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.90sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786476028.75990963 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 26 warnings · 137 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3).[0m ×2 + 1.54sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.55sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Got request to cancel active goal. ×2 + 1.55sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Canceling active goal... ×2 + 1.55sERRORobjective_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: 1786476245.62331057 seconds ×3 + 1.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.57sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 1.57sINFOcontroller_managerSuccessfully switched controllers! ×8 + 1.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.57sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 1.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 1.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 1.58sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 1.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4).[0m ×2 + 2.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476246.22880983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476246.92894077 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5).[0m ×2 + 3.45sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786476247.52037883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.45sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.45sINFOobjective_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 + 3.45sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.45sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786476247.52245855 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786476248.24324489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.18sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786476248.24376798 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476248.83998013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2).[0m ×2 + 5.61sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.92sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786476249.99011111 seconds ×3 + 5.96sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168523 ms (missed cycles : 5). + 6.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168523 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 31 warnings · 87 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201166 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.201166 ms (missed cycles : 4).[0m ×2 + 0.31sINFOros2_control_node[2026-08-11 19:19:36.266] [info] Received new action goal ×2 + 0.31sINFOros2_control_node[2026-08-11 19:19:36.266] [info] Accepted new action goal ×2 + 0.82sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3).[0m ×2 + 1.71sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.71sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3).[0m ×2 + 2.22sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 2.22sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.23sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Received new action goal ×2 + 2.23sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Accepted new action goal ×2 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2).[0m ×2 + 3.61sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786475979.56529427 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786475980.18908024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.32sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786475980.26920176 seconds ×3 + 4.94sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786475980.89513516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 5.06sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 5.07sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Received new action goal ×2 + 5.07sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5).[0m ×2 + 6.78sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 23 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 0.7s | 22 warnings · 386 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8978] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.619] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.620] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8980] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-8process has finished cleanly [pid 8981] ×2 + 0.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.00sINFOforce_torque_sensor_broadcasterconfigure successful + 1.00sINFOros2_control_nodeconfigure successful[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×19 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 1.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.31sINFOros2-2process has finished cleanly [pid 8975] ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 1.74sINFOros2-4process has finished cleanly [pid 8977] ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.88sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.88sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.88sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.89sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.89sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.99sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 6.99sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.00sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 7.00sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[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 7.372847 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 29 warnings · 137 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4).[0m ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3).[0m ×2 + 2.73sINFOobjective_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 + 2.74sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Got request to cancel active goal. ×2 + 2.74sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Canceling active goal... ×2 + 2.74sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476245.62331057 seconds ×3 + 2.76sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.76sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 2.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.76sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.76sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 2.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476246.22880983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.05sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476246.92894077 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786476247.52037883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.64sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.64sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.64sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786476247.52245855 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786476248.24324489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.36sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786476248.24376798 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476248.83998013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498091 ms (missed cycles : 2).[0m ×2 + 6.80sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 7.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786476249.99011111 seconds ×3 + 7.15sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.168523 ms (missed cycles : 5). | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.1s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_node[2026-08-11 19:20:35.999] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491707402 [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 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491733872 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_node[2026-08-11 19:20:36.651] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-11 19:20:36.701201802 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704183672 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704207127 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-08-11 19:20:36.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-11 19:20:37.123738858 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.147974352 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.148010309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786476038.94175386 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786476039.59645343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3).[0m ×2 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3).[0m ×2 + 1.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Received new action goal ×2 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786475979.56529427 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786475980.18908024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786475980.26920176 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786475980.89513516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3).[0m ×2 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3).[0m ×2 + 1.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Received new action goal ×2 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786475979.56529427 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786475980.18908024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786475980.26920176 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786475980.89513516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_node[2026-08-11 19:20:35.999] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491707402 [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 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491733872 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_node[2026-08-11 19:20:36.651] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-11 19:20:36.701201802 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704183672 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704207127 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-08-11 19:20:36.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-11 19:20:37.123738858 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.147974352 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.148010309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786476038.94175386 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786476039.59645343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_node[2026-08-11 19:20:35.999] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491707402 [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 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491733872 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_node[2026-08-11 19:20:36.651] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-11 19:20:36.701201802 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704183672 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704207127 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-08-11 19:20:36.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-11 19:20:37.123738858 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.147974352 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.148010309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786476038.94175386 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786476039.59645343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 23 warnings · 48 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207672 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207672 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786476189.89858460 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786476190.58142042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 26 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985644 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.985644 ms (missed cycles : 4).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990230 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990230 ms (missed cycles : 2).[0m ×2 + 1.12sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265412 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265412 ms (missed cycles : 2).[0m ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773780 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.773780 ms (missed cycles : 5).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1786476222.13647389 seconds ×3 + 3.62sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.62sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.62sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.62sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.62sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.62sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.21sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1786476222.74658728 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603563 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603563 ms (missed cycles : 3).[0m ×2 + 4.34sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 4.34sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.35sINFOros2_control_node[2026-08-11 19:23:42.880] [info] Received new action goal ×2 + 4.35sINFOros2_control_node[2026-08-11 19:23:42.880] [info] Accepted new action goal ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788972 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.788972 ms (missed cycles : 2).[0m ×2 + 6.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.26sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308715 ms (missed cycles : 5). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.308715 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 20 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.372847 ms (missed cycles : 5).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 1.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 2.89sINFOobjective_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 + 2.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 3.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 3.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 3.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.30sINFOobjective_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 + 4.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 5.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 5.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.67sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Got request to cancel active goal. ×2 + 3.67sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1786476245.62331057 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476246.22880983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476246.92894077 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786476247.52037883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.57sINFOobjective_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 + 5.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786476247.52245855 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786476248.24324489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786476248.24376798 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 26 warnings · 131 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164419 ms (missed cycles : 2).[0m ×2 + 0.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.31 s); wrist_camera (1.31 s). The render path has stopped producing new frames for them.[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137902 ms (missed cycles : 4).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638414 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578636 ms (missed cycles : 3).[0m ×2 + 3.66sINFOobjective_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 + 3.67sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Got request to cancel active goal. ×2 + 3.67sINFOros2_control_node[2026-08-11 19:24:05.618] [info] Canceling active goal... ×2 + 3.67sERRORobjective_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: 1786476245.62331057 seconds ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.69sINFOcontroller_managerRequested controller switch from non-realtime loop ×8 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×8 + 3.69sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.69sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×16 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.023297 ms (missed cycles : 4).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476246.22880983 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476246.92894077 seconds ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.362878 ms (missed cycles : 5).[0m ×2 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1786476247.52037883 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.57sINFOobjective_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 + 5.57sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1786476247.52245855 seconds ×3 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619199 ms (missed cycles : 2).[0m ×2 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1786476248.24324489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1786476248.24376798 seconds ×3 | ||||
| − 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 2.595741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595741 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.96sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 3.57sERRORobjective_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: 1786475963.62719846 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.17sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 23 warnings · 91 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595741 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595741 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 2.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.93sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 2.94sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.96sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 2.96sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 3.55sINFOobjective_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 + 3.55sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 3.55sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 3.57sERRORobjective_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: 1786475963.62719846 seconds ×3 + 3.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.58sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 3.58sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 3.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 4.35sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 4.95sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.96sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.96sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 5.14sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.17sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 5.17sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[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 7.195466 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1786475963.62719846 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 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 7.195466 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1786475963.62719846 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 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 7.195466 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1786475963.62719846 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 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 7.195466 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.195466 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506350 ms (missed cycles : 4).[0m ×2 + 1.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.67e-07 s). ×2 + 1.89sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.90sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Received new action goal ×2 + 1.91sINFOros2_control_node[2026-08-11 19:19:23.015] [info] Accepted new action goal ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.265296 ms (missed cycles : 2).[0m ×2 + 2.50sINFOobjective_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 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Got request to cancel active goal. ×2 + 2.50sINFOros2_control_node[2026-08-11 19:19:23.611] [info] Canceling active goal... ×2 + 2.52sERRORobjective_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: 1786475963.62719846 seconds ×3 + 2.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.53sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.53sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.54sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.91sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.25 s); wrist_camera (1.25 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1786475964.29332519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882564 ms (missed cycles : 2).[0m ×2 + 3.30sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1786475964.41347814 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1786475965.01443720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.91sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.09sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-08-11 19:19:25.231] [info] Accepted new action goal ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680473 ms (missed cycles : 5).[0m ×2 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684907 ms (missed cycles : 2).[0m ×2 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081116 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3).[0m ×2 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3).[0m ×2 + 1.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Received new action goal ×2 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786475979.56529427 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786475980.18908024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786475980.26920176 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786475980.89513516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 28 warnings · 83 info |
+ 0.00sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 0.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3). + 0.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204485 ms (missed cycles : 3).[0m ×2 + 0.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651662 ms (missed cycles : 3).[0m ×2 + 1.40sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 1.40sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Received new action goal ×2 + 1.41sINFOros2_control_node[2026-08-11 19:19:38.179] [info] Accepted new action goal ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871581 ms (missed cycles : 2).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1786475979.56529427 seconds ×3 + 2.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.80sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 2.80sINFOcontroller_managerSuccessfully switched controllers! ×4 + 2.80sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 2.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 2.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×2 + 2.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×4 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.367971 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1786475980.18908024 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1786475980.26920176 seconds ×3 + 4.12sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1786475980.89513516 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-08-11 19:19:41.019] [info] Accepted new action goal ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.266586 ms (missed cycles : 2).[0m ×2 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.830831 ms (missed cycles : 5).[0m ×2 + 5.96sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.281211 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 23 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685126 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730639 ms (missed cycles : 2).[0m ×2 + 1.22sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.18 s); wrist_camera (1.18 s). The render path has stopped producing new frames for them.[0m ×2 + 1.43sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.52sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 1.52sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Received new action goal ×2 + 1.53sINFOros2_control_node[2026-08-11 19:19:49.057] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345072 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217688 ms (missed cycles : 2).[0m ×2 + 3.58sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:19:51.115] [info] Canceling active goal... ×2 + 3.60sERRORobjective_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: 1786475991.12819123 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.221677 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1786475991.76656342 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:19:51.971] [info] Accepted new action goal ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511209 ms (missed cycles : 3).[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099301 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 23 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802800 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802800 ms (missed cycles : 3).[0m ×2 + 0.69sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 0.69sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 0.70sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 0.70sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 0.71sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 0.77sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 0.80sINFOobjective_server_nodeFound path in 1 iterations (0.00493124 s). ×2 + 0.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________X____________X] ×2 + 0.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.99sINFOros2_control_node[2026-08-11 19:20:10.974] [info] Received new action goal ×2 + 0.99sINFOros2_control_node[2026-08-11 19:20:10.974] [info] Accepted new action goal ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785429 ms (missed cycles : 2). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785429 ms (missed cycles : 2).[0m ×2 + 1.42sINFOros2_control_node[2026-08-11 19:20:11.406] [info] Received new action goal ×2 + 1.42sINFOros2_control_node[2026-08-11 19:20:11.406] [info] Accepted new action goal ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445160 ms (missed cycles : 5). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.445160 ms (missed cycles : 5).[0m ×2 + 2.82sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.82sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.90sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879592 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879592 ms (missed cycles : 2).[0m ×2 + 3.22sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.23sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.23sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.23sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.27sERRORobjective_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: 1786476013.25205660 seconds ×3 + 3.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.28sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.28sINFOros2_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1786476014.04455686 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 4.24sINFOros2_control_node[2026-08-11 19:20:14.228] [info] Received new action goal ×2 + 4.24sINFOros2_control_node[2026-08-11 19:20:14.228] [info] Accepted new action goal ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715220 ms (missed cycles : 5). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.715220 ms (missed cycles : 5).[0m ×2 + 5.16sINFOros2_control_nodeMuJoCo sim: 0.24% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489113 ms (missed cycles : 6). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.489113 ms (missed cycles : 6).[0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076487 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076487 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 23 warnings · 97 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118082 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118082 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817012 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418492 ms (missed cycles : 4).[0m ×2 + 2.98sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.19 s); wrist_camera (1.19 s). The render path has stopped producing new frames for them.[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507510 ms (missed cycles : 3).[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1786476025.29989767 seconds ×3 + 3.45sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.45sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.45sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 3.45sINFOcontroller_managerSuccessfully switched controllers! ×6 + 3.45sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 3.45sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 3.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 3.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 4.11sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786476025.96422458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.15sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786476026.02435398 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786476026.61974955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.90sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Received new action goal ×2 + 4.90sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 23 warnings · 100 info |
+ 0.00sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1786476025.96422458 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.03sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.03sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.03sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×3 + 0.06sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×6 + 0.06sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1786476026.02435398 seconds ×3 + 0.07sINFOcontroller_managerRequested controller switch from non-realtime loop ×4 + 0.07sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×8 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764148 ms (missed cycles : 2).[0m ×2 + 0.66sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1786476026.61974955 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.68sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 0.78sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). ×2 + 0.78sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 0.79sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Received new action goal ×2 + 0.79sINFOros2_control_node[2026-08-11 19:20:26.753] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373105 ms (missed cycles : 3).[0m ×2 + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.269260 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1786476028.75990963 seconds ×3 + 3.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3). + 3.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908867 ms (missed cycles : 3).[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193874 ms (missed cycles : 5). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.193874 ms (missed cycles : 5).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1786476030.35501409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.23 s); wrist_camera (1.23 s). The render path has stopped producing new frames for them.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384159 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384159 ms (missed cycles : 2).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737680 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.737680 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 · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_node[2026-08-11 19:20:35.999] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491707402 [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 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491733872 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_node[2026-08-11 19:20:36.651] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-11 19:20:36.701201802 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704183672 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704207127 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-08-11 19:20:36.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-11 19:20:37.123738858 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.147974352 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.148010309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786476038.94175386 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786476039.59645343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 23 warnings · 73 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963291 ms (missed cycles : 2).[0m ×2 + 0.46sINFOobjective_server_node[2026-08-11 19:20:35.999] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491707402 [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 + 0.95sINFOobjective_server_node[0;93m2026-08-11 19:20:36.491733872 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320737 ms (missed cycles : 2).[0m ×2 + 1.11sINFOobjective_server_node[2026-08-11 19:20:36.651] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.16sINFOobjective_server_node[0;93m2026-08-11 19:20:36.701201802 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704183672 [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 + 1.17sINFOobjective_server_node[0;93m2026-08-11 19:20:36.704207127 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.23sINFOobjective_server_node[2026-08-11 19:20:36.768] [info] Selected ONNX execution provider: CUDAExecutionProvider ×2 + 1.58sINFOobjective_server_node[0;93m2026-08-11 19:20:37.123738858 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.147974352 [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 + 1.61sINFOobjective_server_node[0;93m2026-08-11 19:20:37.148010309 [W:onnxruntime:, session_state.cc:1329 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.06sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.17 s); wrist_camera (1.17 s). The render path has stopped producing new frames for them.[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440833 ms (missed cycles : 4).[0m ×2 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158651 ms (missed cycles : 2).[0m ×2 + 3.40sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1786476038.94175386 seconds ×3 + 3.46sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.46sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.47sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.47sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.47sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.47sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.48sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.48sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1786476039.59645343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.06sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.14sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.15sINFOobjective_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 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722863 ms (missed cycles : 5).[0m ×2 + 4.42sINFOobjective_server_nodeFound path in 0 iterations (4.89e-07 s). ×2 + 4.42sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-08-11 19:20:40.014] [info] Accepted new action goal ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480013 ms (missed cycles : 2).[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274120 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 25 warnings · 91 info |
+ 0.00sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×3 + 0.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] + 0.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] + 0.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 0.00sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.00sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×2 + 0.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 0.00sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604177 ms (missed cycles : 3). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604177 ms (missed cycles : 3).[0m ×2 + 0.10sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 0.11sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 0.12sINFOros2_control_node[2026-08-11 19:21:29.819] [info] Received new action goal ×2 + 0.12sINFOros2_control_node[2026-08-11 19:21:29.819] [info] Accepted new action goal ×2 + 0.88sWARNros2_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 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844941 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844941 ms (missed cycles : 3).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344825 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344825 ms (missed cycles : 3).[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704180 ms (missed cycles : 5). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.704180 ms (missed cycles : 5).[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1786476093.42544436 seconds ×3 + 3.74sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.74sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.74sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.74sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.74sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.75sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.75sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.75sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168480 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.168480 ms (missed cycles : 3).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1786476094.02366376 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.49sINFOobjective_server_nodeFound path in 0 iterations (2.41e-07 s). ×2 + 4.49sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.50sINFOros2_control_node[2026-08-11 19:21:34.197] [info] Received new action goal ×2 + 4.50sINFOros2_control_node[2026-08-11 19:21:34.197] [info] Accepted new action goal ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192830 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192830 ms (missed cycles : 2).[0m ×2 + 5.77sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.78sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.83sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.83sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.83sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.83sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.84sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.84sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.24sWARNros2_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 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815761 ms (missed cycles : 2). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815761 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 20 warnings · 2481 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×804 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×804 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786476159.96861005 seconds ×3 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786476160.59838343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.58sINFOobjective_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 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 5 iterations (0.00633456 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.78sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 20 warnings · 2481 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×402 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×402 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×804 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×804 + 0.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4). + 0.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.969612 ms (missed cycles : 4).[0m ×2 + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.876354 ms (missed cycles : 2).[0m ×2 + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106914 ms (missed cycles : 2).[0m ×2 + 3.01sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.53 s); wrist_camera (1.53 s). The render path has stopped producing new frames for them.[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685479 ms (missed cycles : 2).[0m ×2 + 3.88sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1786476159.96861005 seconds ×3 + 3.89sINFOjoint_trajectory_controllerGot request to cancel goal ×2 + 3.89sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.89sINFOros2_control_nodeGot request to cancel goal[0m ×4 + 3.89sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.89sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.89sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.89sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.89sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.89sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.91sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.91sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.51sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1786476160.59838343 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.51sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.58sINFOobjective_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 + 4.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.69sINFOobjective_server_nodeFound path in 5 iterations (0.00633456 s). ×2 + 4.76sINFOobjective_server_nodePath shortcutter: [X______________________________X_________________________________X] ×2 + 4.78sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Received new action goal ×2 + 4.78sINFOros2_control_node[2026-08-11 19:22:40.864] [info] Accepted new action goal ×2 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.252601 ms (missed cycles : 6).[0m ×2 + 6.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 ms (missed cycles : 2). + 6.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940409 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 4.207672 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.207672 ms (missed cycles : 3).[0m ×2 + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.910032 ms (missed cycles : 3).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331648 ms (missed cycles : 2).[0m ×2 + 2.34sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.13 s); wrist_camera (1.13 s). The render path has stopped producing new frames for them.[0m ×2 + 2.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.86sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1786476189.89858460 seconds ×3 + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.71sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.71sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.71sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.71sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.72sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.72sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.35sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1786476190.58142042 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409258 ms (missed cycles : 2).[0m ×2 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 4.54sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.55sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Received new action goal ×2 + 4.55sINFOros2_control_node[2026-08-11 19:23:10.776] [info] Accepted new action goal ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207310 ms (missed cycles : 2).[0m ×2 + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855844 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 29 warnings · 63 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.180288 ms (missed cycles : 2).[0m ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Received new action goal ×2 + 0.59sINFOros2_control_node[2026-08-11 19:23:17.631] [info] Accepted new action goal ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.963315 ms (missed cycles : 6).[0m ×2 + 1.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.407501 ms (missed cycles : 4).[0m ×2 + 2.50sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×6 + 2.50sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Received new action goal ×2 + 2.52sINFOros2_control_node[2026-08-11 19:23:19.555] [info] Accepted new action goal ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869770 ms (missed cycles : 2).[0m ×2 + 3.59sINFOobjective_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 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Got request to cancel active goal. ×2 + 3.59sINFOros2_control_node[2026-08-11 19:23:20.631] [info] Canceling active goal... ×2 + 3.61sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786476200.64679432 seconds ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.65sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.65sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.65sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.65sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.67sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.67sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311988 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1786476201.32630777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.33sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.43sINFOobjective_server_nodeFound path in 0 iterations (4.48e-07 s). ×2 + 4.43sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Received new action goal ×2 + 4.44sINFOros2_control_node[2026-08-11 19:23:21.480] [info] Accepted new action goal ×2 + 4.89sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.24 s); wrist_camera (1.24 s). The render path has stopped producing new frames for them.[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.003838 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.848035 ms (missed cycles : 6).[0m ×2 + 6.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 20 warnings · 42 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643552 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.643552 ms (missed cycles : 5).[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595227 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595227 ms (missed cycles : 2).[0m ×2 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053724 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053724 ms (missed cycles : 2).[0m ×2 + 3.02sINFOobjective_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 + 3.03sERRORobjective_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: 1786476211.61680031 seconds ×3 + 3.06sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.06sINFOcontroller_managerRequested controller switch from non-realtime loop ×2 + 3.06sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.06sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.06sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×4 + 3.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.07sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698685 ms (missed cycles : 2). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698685 ms (missed cycles : 2).[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1786476212.23401022 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.93sINFOobjective_server_nodeFound path in 0 iterations (4.03e-07 s). ×2 + 3.94sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.95sINFOros2_control_node[2026-08-11 19:23:32.543] [info] Received new action goal ×2 + 3.95sINFOros2_control_node[2026-08-11 19:23:32.543] [info] Accepted new action goal ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132802 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132802 ms (missed cycles : 2).[0m ×2 + 5.05sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557863 ms (missed cycles : 3). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.557863 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 20 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Select Region for Coverage Path | select_region_for_coverage_path.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 8.377723 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.377723 ms (missed cycles : 6).[0m ×2 + 0.45sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.20 s); wrist_camera (1.20 s). The render path has stopped producing new frames for them.[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296355 ms (missed cycles : 3).[0m ×2 + 1.89sINFOobjective_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 + 1.90sERRORobjective_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: 1786476233.11684465 seconds ×3 + 2.01sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.01sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.01sINFOcontroller_managerRequested controller switch from non-realtime loop ×6 + 2.01sINFOcontroller_managerSuccessfully switched controllers! ×8 + 2.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×12 + 2.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 2.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×8 + 2.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.02sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.02sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] ×4 + 2.02sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636328 ms (missed cycles : 3).[0m ×2 + 2.60sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1786476233.81927824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.63sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.64sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.65sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.66sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1786476233.89940953 seconds ×3 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605845 ms (missed cycles : 3).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1786476234.49558806 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.30sINFOobjective_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 + 3.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1786476234.51768422 seconds ×3 + 4.01sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1786476235.22839761 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.12sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Received new action goal ×2 + 4.13sINFOros2_control_node[2026-08-11 19:23:55.349] [info] Accepted new action goal ×2 + 4.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210819 ms (missed cycles : 2).[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784668 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 9.2s | 33 warnings · 585 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-11-19-18-58-932037-bb1766b542f2-8926 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542523 ms (missed cycles : 7). + 2.02sINFOros2_control_node-1process started with pid [8974] ×2 + 2.02sINFOmove_group-9process started with pid [9011] ×2 + 2.02sINFOparameter_manager_node-10process started with pid [9012] ×2 + 2.02sINFOwaypoint_manager_node-11process started with pid [9013] ×2 + 2.02sINFOmove_joint_resampler_node-12process started with pid [9014] ×2 + 2.02sINFOmove_end_effector_resampler_node-13process started with pid [9015] ×2 + 2.02sINFOobjective_server_node_main-14process started with pid [9016] ×2 + 2.02sINFOcomponent_container_mt-15process started with pid [9017] ×2 + 2.02sINFOcomponent_container_mt-16process started with pid [9018] ×2 + 2.02sINFOexecute_objective_bridge-17process started with pid [9019] ×2 + 2.02sINFOui_teleop_bridge-18process started with pid [9020] ×2 + 2.04sINFOweb_bridge-19process started with pid [9021] ×2 + 2.04sINFOtf2_web_republisher_node-20process started with pid [9085] ×2 + 2.04sINFOvideo_server-21process started with pid [9086] ×2 + 2.04sINFOweb_bridge_auth_proxy-22process started with pid [9087] ×2 + 2.04sINFOweb_video_auth_proxy-23process started with pid [9088] ×2 + 2.04sINFOcontroller_managerReceived robot description from topic. + 2.04sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.05sINFOros2-2process started with pid [8975] ×2 + 2.05sINFOros2-3process started with pid [8976] ×2 + 2.05sINFOros2-4process started with pid [8977] ×2 + 2.05sINFOros2-5process started with pid [8978] ×2 + 2.05sINFOros2-6process started with pid [8979] ×2 + 2.05sINFOros2-7process started with pid [8980] ×2 + 2.05sINFOros2-8process started with pid [8981] ×2 + 2.06sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542523 ms (missed cycles : 7).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/11 19:19:02 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/11 19:19:02 INF configuration loaded from /tmp/moveit-webrtc-nkz1kukl/mediamtx.yml ×2 + 2.45sINFOvideo_server2026/08/11 19:19:02 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.45sINFOvideo_server2026/08/11 19:19:02 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 3.09sINFOmove_group[2026-08-11 19:19:02.777] [moveit_pro_license] [info] ×2 + 3.09sINFOmove_group************************************************* ×4 + 3.09sINFOmove_group* MoveIt Pro License ×2 + 3.09sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.13sINFOwaypoint_manager_node[2026-08-11 19:19:02.818] [moveit_pro_license] [info] ×2 + 3.13sINFOwaypoint_manager_node************************************************* ×4 + 3.13sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 3.13sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585077 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585077 ms (missed cycles : 3).[0m ×2 + 3.24sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.46sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 3.46sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.46sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.46sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.46sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.55sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 3.55sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 3.55sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 3.56sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 3.56sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 3.57sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 3.58sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 3.66sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 3.72sINFOspawner_robotiq_gripper_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.72sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 3.74sINFOmove_group ×4 + 3.74sINFOmove_group[92mYou can start planning now![0m ×2 + 4.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 4.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 5.10sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 5.24sINFOobjective_server_node[2026-08-11 19:19:04.925] [moveit_pro_license] [info] ×2 + 5.24sINFOobjective_server_node************************************************* ×4 + 5.24sINFOobjective_server_node* MoveIt Pro License ×2 + 5.24sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.40sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 5.40sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 5.42sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 5.42sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 5.42sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 5.42sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 5.42sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 5.42sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 5.42sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 5.42sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 5.43sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 5.43sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 5.43sINFOros2_control_nodeResolved base link to MuJoCo body `world` (id 0) via URDF chain walk.[0m ×2 + 5.43sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 5.43sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 5.43sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 5.43sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 5.43sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 5.43sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 5.43sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 5.43sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 5.43sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 5.47sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.47sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.47sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.48sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.48sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 5.48sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 5.49sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.49sINFOspawner_robotiq_gripper_controller[94mLoaded [1mrobotiq_gripper_controller[0m + 5.49sINFOros2[94mLoaded [1mrobotiq_gripper_controller[0m[0m ×2 + 5.49sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.49sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.49sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.49sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.50sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.50sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.50sINFOcontroller_managerSuccessfully switched controllers! ×14 + 5.50sINFOros2_control_nodeSuccessfully switched controllers![0m ×28 + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492243 ms (missed cycles : 4). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.492243 ms (missed cycles : 4).[0m ×2 + 5.51sINFOspawner_robotiq_gripper_controller[92mConfigured and activated [1mrobotiq_gripper_controller[0m + 5.51sINFOros2[92mConfigured and activated [1mrobotiq_gripper_controller[0m[0m ×2 + 5.69sINFOcomponent_container_mt[2026-08-11 19:19:05.383] [moveit_pro_license] [info] ×2 + 5.70sINFOcomponent_container_mt************************************************* ×4 + 5.70sINFOcomponent_container_mt* MoveIt Pro License ×2 + 5.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 5.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 5.81sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 5.81sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 5.81sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 5.81sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 5.82sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 5.82sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 5.85sINFOros2-3process has finished cleanly [pid 8976] ×2 + 5.94sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 5.94sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 5.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 6.01sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 6.02sINFOspawner_joint_trajectory_admittance_controller[94mLoaded [1mjoint_trajectory_admittance_controller[0m + 6.02sINFOros2[94mLoaded [1mjoint_trajectory_admittance_controller[0m[0m ×2 + 6.02sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 6.02sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 6.02sINFOros2_control_node[2026-08-11 19:19:05.711] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.02sINFOros2_control_node[2026-08-11 19:19:05.711] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 6.03sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 6.05sINFOros2_control_node[2026-08-11 19:19:05.737] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 6.05sINFOros2_control_node[2026-08-11 19:19:05.737] [info] Controller state will be published at 50 Hz. ×2 + 6.05sINFOros2_control_node[2026-08-11 19:19:05.742] [info] Registered `FollowJointTrajectory` action server. ×2 + 6.37sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.37sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.38sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.38sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.38sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 6.38sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 6.38sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 6.40sINFOros2-6process has finished cleanly [pid 8979] ×2 + 6.45sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 6.45sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 6.45sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.45sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.45sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.45sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.46sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.46sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.46sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.46sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.46sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.46sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.46sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.46sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.47sINFOspawner_joint_trajectory_controller[92mConfigured and activated [1mjoint_trajectory_controller[0m + 6.47sINFOros2[92mConfigured and activated [1mjoint_trajectory_controller[0m[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283475 ms (missed cycles : 2). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.283475 ms (missed cycles : 2).[0m ×2 + 6.78sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.78sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.78sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.82sINFOros2-5process has finished cleanly [pid 8978] ×2 + 6.85sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 6.85sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 6.90sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 6.90sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 6.90sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.91sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.93sINFOros2_control_node[2026-08-11 19:19:06.619] [info] Controller state will be published at 10 Hz. ×2 + 6.93sINFOros2_control_node[2026-08-11 19:19:06.620] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.26sINFOros2-7process has finished cleanly [pid 8980] ×2 + 7.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 7.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 7.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 7.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 7.33sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 7.33sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 7.37sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 7.37sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 7.37sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 7.37sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 7.40sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 7.40sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 7.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 7.71sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 7.71sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 7.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 7.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 7.72sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 7.72sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 7.73sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.77sINFOros2-8process has finished cleanly [pid 8981] ×2 + 7.77sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 7.78sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.78sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 7.78sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 7.78sINFOforce_torque_sensor_broadcasterconfigure successful + 7.78sINFOros2_control_nodeconfigure successful[0m ×2 + 7.78sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.78sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 7.78sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.79sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 7.79sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 7.79sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 7.79sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 7.79sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 7.79sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 7.79sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 7.81sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×10 + 7.81sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 7.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.82sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 7.82sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×5 + 7.82sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×10 + 8.09sINFOros2-2process has finished cleanly [pid 8975] ×2 + 8.12sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 8.12sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 8.12sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 8.12sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 8.12sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 8.12sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 8.17sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 8.17sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 8.17sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 8.17sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 8.17sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 8.17sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 8.18sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 8.18sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 8.18sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 8.18sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 8.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 8.52sINFOros2-4process has finished cleanly [pid 8977] ×2 + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 9.07sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.07sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 9.07sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 9.68sWARNros2_control_nodeCamera render tick took 1.86 s (budget 0.100 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 10.13sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 10.75sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.81sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 10.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 10.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 11.47sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 11.49sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 25 warnings · 281 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8975] ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 0.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.42sINFOros2-4process has finished cleanly [pid 8977] ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 2.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.69sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 7.36sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.7s | 22 warnings · 363 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 8980] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.48sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.51sINFOros2-8process has finished cleanly [pid 8981] ×2 + 0.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOforce_torque_sensor_broadcasterconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.53sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.53sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.83sINFOros2-2process has finished cleanly [pid 8975] ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.86sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.91sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 1.26sINFOros2-4process has finished cleanly [pid 8977] ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.42sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 4.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.52sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.1s | 22 warnings · 279 info |
+ 0.00sINFOros2-2process has finished cleanly [pid 8975] ×2 + 0.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.03sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.03sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.08sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.08sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×16 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×32 + 0.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.09sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 0.37sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.38sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 0.39sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.39sINFOcontroller_managerRequested controller switch from non-realtime loop ×12 + 0.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.39sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×24 + 0.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 0.40sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.40sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×7 + 0.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×14 + 0.42sINFOros2-4process has finished cleanly [pid 8977] ×2 + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.98sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.98sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.58sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 2.66sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.72sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 3.37sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 4.10sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.93sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.93sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 5.56sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_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 + 5.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.58sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.67sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 5.68sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.69sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 5.69sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 19 warnings · 357 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8978] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.619] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.620] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8980] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-8process has finished cleanly [pid 8981] ×2 + 0.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.00sINFOforce_torque_sensor_broadcasterconfigure successful + 1.00sINFOros2_control_nodeconfigure successful[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.31sINFOros2-2process has finished cleanly [pid 8975] ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 1.74sINFOros2-4process has finished cleanly [pid 8977] ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 6 warnings · 88 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-08-11-19-18-58-932037-bb1766b542f2-8926 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.83sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.84sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.84sINFOcontroller_managerupdate rate is 600 Hz + 1.84sINFOcontroller_managerOverruns handling is : enabled + 1.84sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.84sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 1.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542523 ms (missed cycles : 7). + 2.02sINFOros2_control_node-1process started with pid [8974] ×2 + 2.02sINFOmove_group-9process started with pid [9011] ×2 + 2.02sINFOparameter_manager_node-10process started with pid [9012] ×2 + 2.02sINFOwaypoint_manager_node-11process started with pid [9013] ×2 + 2.02sINFOmove_joint_resampler_node-12process started with pid [9014] ×2 + 2.02sINFOmove_end_effector_resampler_node-13process started with pid [9015] ×2 + 2.02sINFOobjective_server_node_main-14process started with pid [9016] ×2 + 2.02sINFOcomponent_container_mt-15process started with pid [9017] ×2 + 2.02sINFOcomponent_container_mt-16process started with pid [9018] ×2 + 2.02sINFOexecute_objective_bridge-17process started with pid [9019] ×2 + 2.02sINFOui_teleop_bridge-18process started with pid [9020] ×2 + 2.04sINFOweb_bridge-19process started with pid [9021] ×2 + 2.04sINFOtf2_web_republisher_node-20process started with pid [9085] ×2 + 2.04sINFOvideo_server-21process started with pid [9086] ×2 + 2.04sINFOweb_bridge_auth_proxy-22process started with pid [9087] ×2 + 2.04sINFOweb_video_auth_proxy-23process started with pid [9088] ×2 + 2.04sINFOcontroller_managerReceived robot description from topic. + 2.04sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 2.05sINFOros2-2process started with pid [8975] ×2 + 2.05sINFOros2-3process started with pid [8976] ×2 + 2.05sINFOros2-4process started with pid [8977] ×2 + 2.05sINFOros2-5process started with pid [8978] ×2 + 2.05sINFOros2-6process started with pid [8979] ×2 + 2.05sINFOros2-7process started with pid [8980] ×2 + 2.05sINFOros2-8process started with pid [8981] ×2 + 2.06sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 2.09sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 2.10sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 2.10sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 2.10sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 2.10sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 2.10sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 2.10sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.542523 ms (missed cycles : 7).[0m ×2 + 2.10sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 2.10sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 2.10sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 2.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.22sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 2.44sINFOvideo_server2026/08/11 19:19:02 INF MediaMTX v1.19.3, linux, amd64 ×2 + 2.44sINFOvideo_server2026/08/11 19:19:02 INF configuration loaded from /tmp/moveit-webrtc-nkz1kukl/mediamtx.yml ×2 + 2.45sINFOvideo_server2026/08/11 19:19:02 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 2.45sINFOvideo_server2026/08/11 19:19:02 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 19 warnings · 357 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8978] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.619] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.620] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8980] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-8process has finished cleanly [pid 8981] ×2 + 0.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.00sINFOforce_torque_sensor_broadcasterconfigure successful + 1.00sINFOros2_control_nodeconfigure successful[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.31sINFOros2-2process has finished cleanly [pid 8975] ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 1.74sINFOros2-4process has finished cleanly [pid 8977] ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 19 warnings · 357 info |
+ 0.00sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.00sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.04sINFOros2-5process has finished cleanly [pid 8978] ×2 + 0.07sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.07sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.12sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 0.12sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 0.12sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.12sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.619] [info] Controller state will be published at 10 Hz. ×2 + 0.15sINFOros2_control_node[2026-08-11 19:19:06.620] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.48sINFOros2-7process has finished cleanly [pid 8980] ×2 + 0.48sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.48sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.48sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.48sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.55sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.55sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.59sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.59sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.59sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.59sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 0.62sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.91sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.93sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.93sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.94sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.94sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.94sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.94sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.95sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.99sINFOros2-8process has finished cleanly [pid 8981] ×2 + 0.99sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 1.00sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 1.00sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 1.00sINFOforce_torque_sensor_broadcasterconfigure successful + 1.00sINFOros2_control_nodeconfigure successful[0m ×2 + 1.00sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.00sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 1.00sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.00sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 1.00sINFOcontroller_managerSuccessfully switched controllers! ×18 + 1.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 1.01sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 1.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×36 + 1.01sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 1.01sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 1.01sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 1.01sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 1.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 1.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 1.03sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.04sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 1.04sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 1.31sINFOros2-2process has finished cleanly [pid 8975] ×2 + 1.34sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.34sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.34sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.34sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 1.34sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 1.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 1.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 1.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 1.40sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.69sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.70sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 1.74sINFOros2-4process has finished cleanly [pid 8977] ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.29sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.29sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.90sWARNros2_control_nodeCamera render tick took 1.86 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 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 3.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 5.41sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 5.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 6.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.24sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.24sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.25sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 22 warnings · 363 info |
+ 0.00sINFOros2-7process has finished cleanly [pid 8980] ×2 + 0.00sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.00sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.07sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.07sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.11sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 0.11sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 0.11sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.11sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.12sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.14sINFOros2_control_node[2026-08-11 19:19:07.089] [info] Controller state will be published at 20 Hz. ×2 + 0.14sINFOros2_control_node[2026-08-11 19:19:07.090] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.43sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 0.46sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.46sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.46sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.46sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.46sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.46sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.48sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.51sINFOros2-8process has finished cleanly [pid 8981] ×2 + 0.52sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 0.52sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.52sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.52sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.52sINFOforce_torque_sensor_broadcasterconfigure successful + 0.53sINFOros2_control_nodeconfigure successful[0m ×2 + 0.53sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.53sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 0.53sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.53sINFOcontroller_managerRequested controller switch from non-realtime loop ×14 + 0.53sINFOcontroller_managerSuccessfully switched controllers! ×19 + 0.53sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 0.53sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×28 + 0.53sINFOros2_control_nodeSuccessfully switched controllers![0m ×38 + 0.53sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.53sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.53sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 0.54sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×16 + 0.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×8 + 0.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×16 + 0.83sINFOros2-2process has finished cleanly [pid 8975] ×2 + 0.86sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.86sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.86sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.87sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl + 0.87sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_fx99jbe8 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g3ahcghj --params-file /tmp/launch_params_nphni5yl [0m ×2 + 0.91sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 0.91sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 0.91sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.91sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.91sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.91sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.92sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.92sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.92sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 0.93sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 1.21sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475948.15536880 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.22sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475948.16562867 seconds ×3 + 1.26sINFOros2-4process has finished cleanly [pid 8977] ×2 + 1.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 1.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 1.81sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.81sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.81sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.42sWARNros2_control_nodeCamera render tick took 1.86 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 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 3.49sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 3.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 4.93sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 5.75sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.76sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.76sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.78sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.78sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 5.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.41sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 6.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 6.41sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 6.41sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.41sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 6.41sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 6.41sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 6.51sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.52sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 28 warnings · 233 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053611 ms (missed cycles : 5). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.053611 ms (missed cycles : 5).[0m ×2 + 7.40sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.42sINFOros2_control_node[2026-08-11 19:19:15.984] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-08-11 19:19:15.984] [info] Accepted new action goal ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 25 warnings · 219 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230588 ms (missed cycles : 2).[0m ×2 + 0.19sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1786475948.75562644 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.19sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.80sWARNros2_control_nodeCamera render tick took 1.86 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 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.824048 ms (missed cycles : 3).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1786475949.81578279 seconds ×3 + 1.28sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.28sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.28sINFOcontroller_managerRequested controller switch from non-realtime loop ×10 + 1.28sINFOcontroller_managerSuccessfully switched controllers! ×13 + 1.29sINFOros2_control_nodeRequested controller switch from non-realtime loop[0m ×20 + 1.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×26 + 1.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.30sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] ×6 + 1.30sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×12 + 1.87sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1786475950.43906069 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.93sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1786475950.49922037 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.251594 ms (missed cycles : 2).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475951.15507650 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475951.17520976 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.524308 ms (missed cycles : 5).[0m ×2 + 3.31sWARNros2_control_nodePoint clouds unchanged (expected new data every 0.100 s) from: scene_camera (1.21 s); wrist_camera (1.21 s). The render path has stopped producing new frames for them.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475951.88557076 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475952.03612137 seconds ×3 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475952.69662690 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.15sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475952.73679924 seconds ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514450 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1786475953.34036684 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.79sINFOobjective_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 + 4.79sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.79sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.79sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.79sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.79sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.79sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.89sINFOobjective_server_nodeFound path in 0 iterations (2.3218e-05 s). ×2 + 4.89sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Received new action goal ×2 + 4.91sINFOros2_control_node[2026-08-11 19:19:13.471] [info] Accepted new action goal ×2 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.405853 ms (missed cycles : 4).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.725508 ms (missed cycles : 2).[0m ×2 + 6.57sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||